Magnetic assembly of soft robots with hard components

A method of assembling a reconfigurable robotic device comprising:

• providing a flexible body comprising
• (a) at least one chamber disposed within the flexible body in fluidic communication with a first inlet, wherein the flexible body is capable of actuation upon pressurization, and
• (b) a first magnetic connecting component disposed within the flexible body and positioned about the first inlet;
• and
• providing a hard component comprising
• (a) a rigid body comprising a second inlet, and
• (b) a second magnetic connecting component positioned about the second inlet;
• forming a seal between the flexible body and hard component wherein the first inlet and second inlet are in fluid communication,
• wherein the rigid body of the hard component defines a cavity having walls and a floor that is sized to accommodate an end of the flexible body comprising the first inlet, and
• wherein the second magnetic connecting component is located in the walls of the cavity.

A reconfigurable robotic device capable of assembly and disassembly, comprising:

• a first flexible body having a first magnetic connecting component disposed within the first flexible body;
• a second hard body having a second magnetic connecting component, the first and second magnetic connecting components capable of forming a seal between the flexible body and hard component;
• and
• an inflatable bladder disposed, at least in part, between the first flexible component and second hard component, wherein upon pressurization the bladder expands and decouples the flexible body and hard component.