PneuFlex actuator molds (RBO Hand 2)

Robot / hardware build

Printable molds for TU Berlin's pneumatic soft-hand actuators, released with the RBO Hand 2 CAD set. [1] [2]

Build & first use →Official website

For: Soft robotics researchers; Builders studying pneumatic end effectors [1]
Cost: No current cost or bill of materials established yet.
Source rights: Named licenses are documented by part. Review licenses
Unknowns: host computer, tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked Oct 24, 2026 · Research details

Licenses & related hardware

License: CC-BY-SA-4.0 · Details by part

Requirements · Research details and dates

Overview

PneuFlex is TU Berlin's soft pneumatic actuator approach. The lab's RBO Hand 2 uses these actuators on a printed scaffold. Its public CAD deposit names printable molds for the finger, palm and thumb and a scaffold; this entry focuses on the finger mold pair, which we downloaded and checked as binary STL payloads. The files are geometry for making an actuator, not a ready-made finger or a complete hand. [1] [2] [3]

The RBO Hand 2 CAD deposit provides FDM finger mold top and bottom files, alongside other mold and scaffold models. The item page credits Raphael Deimel and Oliver Brock and links CC BY-SA 4.0. A builder would still need to establish the silicone/reinforcement casting procedure, pneumatic supply and control, the exact hand configuration, and a current parts budget. [1] [2] [4]

We did not print the molds, cast silicone, assemble a hand or test bending and grasping. The visible geometry establishes a useful design reference, while fabrication and performance remain unverified. [2] [3]

Is this for you?

Known limitations

The inspected payloads are finger mold geometry, not a ready-made actuator or entire hand.
The deposit also contains palm, thumb and scaffold files; this profile does not claim a complete assembly path.
A complete silicone casting recipe, pneumatic circuit, calibration and current cost have not been verified.

Narrow source scope and unverified downstream processes.

[1] [2] [3] · Editorial assessment

What you need

Dependencies

3D-printed mold parts
Silicone and reinforcement materials
Air supply and controlled pneumatic drive

Necessary classes of materials; exact complete bill and process not verified in this review.

[1] [2] · Editorial assessment

Hardware & parts

Hardware configuration

Pneumatic soft actuator mold design

[1]

Actuators

Fiber-reinforced silicone pneumatic finger actuator

[1]

Assembly & first use

Project documentation [1]

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. Two deposited actuator mold STLs are preserved; preview orientation and the difference between a mold and an assembled hand require review.

Model sources

Two deposited actuator mold STLs are preserved; preview orientation and the difference between a mold and an assembled hand require review.

What we checked

Source research only; no fabrication, hardware commissioning, software installation or performance test performed.

Not yet established

Requirements: operating system, host computer, tools
A step-by-step setup summary

Updates

Upstream last updated: Not established
Latest release: Not established
Profile updated: Oct 24, 2026
Sources last checked: Oct 24, 2026
Next review: Nov 24, 2026
Reviewed revision: DepositOnce item 11303/6272, issued 2016-03-31; two FDM finger-mold STL payloads SHA-256 pinned

Source files and licenses

The named deposited molds are real inspectable robot-component design artifacts; this profile is limited to those molds and their use in RBO Hand 2.

Layer	Availability / license
mechanical design	available · CC-BY-SA-4.0 Two FDM printable finger-mold parts are pinned; CC BY-SA 4.0 displayed for the deposited item. [2] [3] [4]
documentation	available · CC-BY-SA-4.0 The deposit describes the role of files; full casting and control tutorial was not retrieved. [2] [4]

No independent artifact in the selected configuration established during this review.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

S001 TU Berlin soft hands project page
Describes PneuFlex actuator role and links CAD.
Revision, date & where cited
TU Berlin Robotics and Biology Lab · tu.berlin · RBO Hand 2 and PneuFlex sections · Accessed Oct 24, 2026

Used for: Overview, Is this for you?, What you need, Hardware & parts and 1 more
S002 RBO Hand 2 CAD deposit
Lists finger mold parts and identifies the deposit as RBO Hand 2 CAD.
Revision, date & where cited
Raphael Deimel and Oliver Brock / TU Berlin · depositonce.tu-berlin.de · DepositOnce item 11303/6272, issued 2016-03-31 · Accessed Oct 24, 2026

Used for: Overview, Is this for you?, What you need, Source files and licenses
S003 Pinned FDM finger mold payloads
Two complete binary STL mold parts were downloaded and structurally checked, not printed.
Revision, date & where cited
Raphael Deimel and Oliver Brock / TU Berlin · depositonce.tu-berlin.de · Downloaded bottom/top STL payloads and SHA-256 manifest · Accessed Oct 24, 2026

Used for: Overview, Is this for you?, Source files and licenses
S004 Deposit item license
The item page links a CC BY-SA 4.0 license; third-party equipment/materials are separate.
Revision, date & where cited
TU Berlin DepositOnce · depositonce.tu-berlin.de · Visible CC BY-SA 4.0 item license link · Accessed Oct 24, 2026

Used for: Overview, Source files and licenses

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

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