HARP Machine

An open-source fabrication platform for helical anisotropic reinforced polymer actuators.

HARP machine

This machine helps to automate the fabrication of HARPs (Helical Anisotropic Reinforced Polymer actuators), from our 2026 PNAS publication Versatile artificial muscles by decoupling anisotropy. The platform allows HARPs to be fabricated in as little as 15 minutes, while minimizing variablility between muscles and reducing operator skill requirements.

HARP machine 2

The entire fabrication machine has been open-sourced, including the CAD files, the software, the GUI, and a detailed build/usage guide available here.

Highlights

  • Semi-autonomous fabrication platform for HARPs, enabling fabrication in as little as 15 minutes.
  • Supports HARPs made from diverse tube materials, geometries, core materials, and reinforcement parameters.
  • Includes a custom easy-to-use GUI and detailed build and user documentation.
  • The open-source platform costs approximately $565 and can be fabricated in as little as 1 day.