Edible Pouch Motors

Edible robotics offers novel applications in which actuators play a key role. However, most existing edible actuators rely on 3D structures that require complex and laborious fabrication processes, hindering rapid prototyping and deployment. To address this issue, this study explores the use of planar configurations, specifically pouch motors, for edible actuators. These actuators are lightweight and can be fabricated quickly via heat sealing. Two types of edible pouch motors are developed using an agar‐based film: linear and angular actuators, and their actuation performances are characterized. The linear pouch motor (1.16 g) exhibits a strain of 30.6% and a force of 13.6 N at an input pressure of 5 kPa, demonstrating performance comparable to nonedible counterparts and durability up to 1000 actuation cycles. The angular pouch motor (0.42 g) achieves a rotation angle of 121.3° at 10 kPa and a torque of 0.11 N m at 16 kPa. Experimental results closely align with theoretical predictions. Furthermore, an edible pouch gripper (2.6 g) successfully performs a pick‐and‐place operation with a 97.0 g potato and fully dissolves in hot water while maintaining its grip. These findings validate the feasibility of planar edible actuators and highlight their potential for advancing future edible robotics.