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The Inventors demonstrate a new method for 3D printing viscoelastic materials (PVMs) with specified material properties that minimize impact and vibration. This technology has many applications to design and print robotic devices in industries ranging from commercial to medical or aerospace manufacturing. Customized impact protection could allow robots to be more resilient, accurate, and reduce controller complexity and effort. The vibration damping properties of PVMs can be used in traditional hard robotics to protect sensitive devices such as cameras and electronics from the vibrations of motors, generators and movement.