Science Robotics

Supplementary Materials

Supplementary Material for:

Hygrobot: A self-locomotive ratcheted actuator powered by environmental humidity

Beomjune Shin, Jonghyun Ha, Minhee Lee, Keunhwan Park, Gee Ho Park, Tae Hyun Choi, Kyu-Jin Cho, Ho-Young Kim*

*Corresponding author. Email: hyk{at}

Published 24 January 2018, Sci. Robot. 3, eaar2629 (2018)
DOI: 10.1126/scirobotics.aar2629

This PDF file includes:

  • Section S1. Experimental details of the electrospinning process
  • Section S2. Various designs of hygrobot
  • Section S3. Asymmetric friction coefficients of the ratchets
  • Section S4. Ratchet design to harness spatial gradient of humidity
  • Section S5. Data of locomotion speed and mass of animals and robots
  • Fig. S1. Static friction coefficients of ratchets.
  • Table S1. Locomotion speed and mass data of mammals.
  • Table S2. Locomotion speed and mass data of non-mammals.
  • Table S3. Locomotion speed and mass data of walking robots.
  • References (3677)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mov format). Locomotion of a hygrobot under temporal variation of environmental humidity.
  • Movie S2 (.mov format). Locomotion of various designs of hygrobot.

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