The Compliant Systems Design Laboratory (Est.1994) develops methods for designing one-piece machines by exploiting the natural elasticity of materials. CSDL has pioneered the concept of distributed compliance creating various analytical and computational tools for synthesizing compliant mechanisms by combining principles of kinematics and continuum mechanics. Compliant designs are strong, flexible, offer high fatigue life and ultra precision (due to absence of conventional joints) to products that require minimal or no-assembly. Another facet of our ongoing research is in the field of elastofluidics. Our study of natural single-piece mechanisms and flexible structures lays the foundation for soft robots.