“…The process has been applied to producing prosthetic limbs for those in developing countries [2] as well as for use in creating novel compliant medical devices [3] and rehabilitation exo-skeleton devices [4]. Models of creatures, such as elephants and caterpillars, with moveable joints and soft elements have also been produced using the method [5,6,7], as well as reproductions of human spines [8]. Various types of joints and actuators have also been produced with 3D printing, using a range of materials, including metal universal joints [9], artificial rubber based Series Elastic Elements, or SEE's [10], flexible pneumatic and hydraulic actuators [11,12,13], sprung joints [14], Shape memory materials [15] and full complement bearing joints [16].…”