This tenure tracker will focus on the design and control of soft robots for care and rehabilitation, using additive manufacturing techniques in close collaboration with the bio-inspiration and human-robot interaction tenure trackers Additive manufacturing inherently incorporates anisotropic materials, reflected in ditto electrical, mechanical, thermal, etc. properties, requiring material science approaches to understand and describe the materials. A variety of printing methods is available, each with its own merits, but with the requirement to enable multi-material printing. The resulting printed objects will clearly be marked by the chosen method, design and printing strategy, determining resolution, accuracy, available material choices, robustness, lifetime, etc.