Image (IMAGE) Singapore University of Technology and Design Caption A generic process flow is proposed to guide the 3D printing of miniature soft pneumatic actuators that are smaller than a coin. A soft debris remover with an integrated miniature gripper can realize navigation through a confined space and collection of small objects in hard-to-reach positions. Credit SUTD Usage Restrictions None License Licensed content Disclaimer: AAAS and EurekAlert! are not responsible for the accuracy of news releases posted to EurekAlert! by contributing institutions or for the use of any information through the EurekAlert system.