Dielectric soft actuators use the Coulomb forces to generate motion. Their commercial avail-
ability, and hence, their technological relevance are still rather limited for different reasons.
In-depth material know-how in terms of electrical and mechanical behavior is required, ma-
terials have to be available in thin sheets, and the complicated fabrication is prone to errors.
In order to change this, the paper presents a novel soft dielectric assembly produced by Ma-
terial Extrusion (MEX). The soft dielectric actuator was 3D printed completely in using and
is fully functional without any further manufacturing steps. By incorporating a third material
into an FFF 3D printer, a soft dielectric actuator assembly in the form of a 3-finger gripper
was successfully 3D printed. Since the FFF machines are already quite widespread nowa-
days, our manufacturing approach offers the potential for user customized actuators, which
are easily accessible and comparably affordable. Only requirement is an FFF printer with at
least two independent printing nozzles.