To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards (PCBs) to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including Sparkfun circuits), without design simplifications. As demonstrations of the method's utility, we embed highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronics field to integrate state-of-the-art computational power into robust, stretchable systems during active use.

翻译：为实现实际应用功能，机器人必须具备执行决策计算的能力。然而，软体机器人具有可拉伸特性，因此需要替代刚性计算机的解决方案。目前将计算能力嵌入软体机器人的方法包括：在机器人上附加刚性印刷电路板（PCB）、集成软逻辑门，以及利用材料响应实现材料嵌入式计算。这些方法虽具前景，但存在刚性束缚、线缆限制或逻辑门密度低等局限性。可拉伸电子领域致力于解决这些挑战，但将单板计算机、微控制器及其他复杂电路直接集成到软体机器人的完整技术路径尚未实现。本文提出一种通用方法，可将任意复杂双层电路转化为柔软可拉伸形态。该方法无需简化设计，即可制造出可拉伸单板微控制器（包括Arduino）及其他商用电路（包括Sparkfun电路）。为验证该方法的实用性，我们将高拉伸性（>300%应变）的Arduino Pro Mini嵌入多个软体机器人的本体中。这充分利用了原本惰性的结构材料，实现了可拉伸电子领域的核心目标——在动态使用过程中将先进计算能力集成于鲁棒的可拉伸系统中。