Science Robotics

Supplementary Materials

Supplementary Material for:

Self-healing soft pneumatic robots

Seppe Terryn, Joost Brancart, Dirk Lefeber, Guy Van Assche, Bram Vanderborght*

*Corresponding author. Email: bram.vanderborght{at}

Published 16 August 2017, Sci. Robot. 2, eaan4268 (2017)
DOI: 10.1126/scirobotics.aan4268

This PDF file includes:

  • Fig. S1. Synthesis of the thermoreversible covalent networks.
  • Fig. S2. The thermoreversible DA reaction.
  • Fig. S3. Simulation for the DA series: DPBM-FGE-J400, DPBM-FGE-J2000, and DPBM-FGE-J4000.
  • Fig. S4. Temperature profile of the SH procedure.
  • Fig. S5. Temperature-dependent viscoelastic behavior for the DA polymer series measured by DMA.
  • Fig. S6. Stress-strain curves for the DA polymer series.
  • Fig. S7. Young’s modulus determination of the DPBM-FGE-Jx.
  • Fig. S8. Measuring the gel temperature (Tgel) through dynamic rheometry.
  • Fig. S9. Simulating different designs for the SH soft robotic demonstrators using a static elastic model in Abaqus.
  • Fig. S10. Dimensions of the two BSPA designs in millimeters.
  • Fig. S11. Dimensions of the two PPAM prototypes in millimeters.
  • Fig. S12. Constructing a BSPA using shaping through folding and self-healing.
  • Fig. S13. Shaping through folding and self-healing to manufacture the PPAMs.
  • Fig. S14. Pressure control system scheme.
  • Fig. S15. Images of the pressure control system.
  • Fig. S16. Irreversible cross-linking of bismaleimide networks.
  • Fig. S17. DA polymer waste of the manufacturing process of the prototypes can be recycled.
  • Fig. S18. Recovery of the material properties after the recycling procedure.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Visualization of the SH process of the DA elastomers using optical microscopy.
  • Movie S2 (.mp4 format). Healing DA polymers together with different mechanical properties; DPBM-FGE-J4000 and DPBM-FGE-J2000.
  • Movie S3 (.mp4 format). Simulating large deformations using static elastic models in Abaqus.
  • Movie S4 (.mp4 format). The soft pneumatic gripper handling a 92-g mandarin orange.
  • Movie S5 (.mp4 format). The soft pneumatic hand in which all the fingers are controlled individually.
  • Movie S6 (.mp4 format). Actuation of the PPAM.
  • Movie S7 (.mp4 format). Damaging the soft pneumatic hand.
  • Movie S8 (.mp4 format). Damaging the PPAMs.

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