Science Robotics

Supplementary Materials

Supplementary Material for:

Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides

Huichan Zhao, Kevin O'Brien, Shuo Li, Robert F. Shepherd*

*Corresponding author. Email: rfs247{at}

Published 6 December 2016, Sci. Robot. 1, eaai7529 (2016)
DOI: 10.1126/scirobotics.aai7529

This PDF file includes:

  • Fig. S1. Optical properties of M 4601 A/B, Ecoflex 30, and VytaFlex 20.
  • Fig. S2. Mechanical properties of M 4601 A/B, Ecoflex 30, and VytaFlex 20.
  • Fig. S3. Surface profile of waveguide core/cladding interfaces.
  • Fig. S4. Characterization setups.
  • Fig. S5. Repeatability tests.
  • Fig. S6. Mold design for the middle finger.
  • Fig. S7. Nylon fabric and mold assembly.
  • Fig. S8. Circuit for powering LED and amplifying photodiode current.
  • Table S1. Resistors and capacitors used in LED-photodiode circuits for waveguide.
  • Legends for movies S1 to S7

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Correction (7 December 2016): In Fig. S1, the refractive indices of Ecoflex 30 and Vytaflex 20 had been flipped. This has been corrected.

The original version is accessible here.

Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Elongation sensor characterization.
  • Movie S2 (.mp4 format). Bending sensor characterization.
  • Movie S3 (.mp4 format). Pressure sensor characterization.
  • Movie S4 (.mp4 format). Decoupling signals from three waveguide sensors in one finger.
  • Movie S5 (.mp4 format). Lateral scanning to detect texture and shape.
  • Movie S6 (.mp4 format). Pressing to detect softness.
  • Movie S7 (.mp4 format). Object recognition.

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