https://tangible.media.mit.edu/project/cilllia
This project came out of the Tangible Media Group at MIT. They designed 3D printable hair and created a program that can easily design and print the hair without using additional CAD. In the videos, they showed many applications that they designed for the hair material. They demonstrated that you can use this technology for creatures, paintbrushes, mechanical adhesion, actuators through vibration, and sensing. There are many possible applications that could be used for future soft robotics because this a way to add actuators, sensors, and adhesion points without using the materials usually needed for these applications.
Random additional stuff related to soft robotics:
https://tangible.media.mit.edu/project/autoinflatables
https://tangible.media.mit.edu/project/pneui
https://tangible.media.mit.edu/project/optielastic
https://tangible.media.mit.edu/project/sticky-actuator
https://tangible.media.mit.edu/project/unimorph
https://tangible.media.mit.edu/project/exoskin