Science Robotics

Supplementary Materials

Supplementary Material for:

A soft, bistable valve for autonomous control of soft actuators

Philipp Rothemund, Alar Ainla, Lee Belding, Daniel J. Preston, Sarah Kurihara, Zhigang Suo, George M. Whitesides*

*Corresponding author. Email: gwhitesides{at}gmwgroup.harvard.edu

Published 21 March 2018, Sci. Robot. 3, eaar7986 (2018)
DOI: 10.1126/scirobotics.aar7986

This PDF file includes:

  • Materials and Methods
  • Fig. S1. Kinking of tubing.
  • Fig. S2. Geometry of devices for measuring the critical pressures.
  • Fig. S3. Critical pressures as functions of wall thickness and scale.
  • Fig. S4. Critical pressures as a function of the shear modulus.
  • Fig. S5. Material characterization.
  • Fig. S6. Influence of large input noise on the output.
  • Fig. S7. Gripper with a valve without a top chamber.
  • Fig. S8. Oscillator in intermediate state.
  • Fig. S9. Oscillations at large input pressures with an additional pneumatic resistance.
  • Fig. S10. Characterization of soft oscillator after 105 cycles.
  • Fig. S11. Alternative designs.
  • Fig. S12. Molds for the devices for measuring the critical pressures.
  • Fig. S13. Assembly of the devices for measuring the critical pressures.
  • Fig. S14. Molds for the tubing used inside the chambers of the valves.
  • Fig. S15. Assembly of the tubing used inside the chambers of the valve.
  • Fig. S16. Molds for the transparent valve.
  • Fig. S17. Assembly of the transparent valve.
  • Fig. S18. Molds for the pneumatic switch.
  • Fig. S19. Assembly of the pneumatic switch.
  • Fig. S20. Molds for the autonomous gripper.
  • Fig. S21. Assembly of the autonomous gripper.
  • Fig. S22. Molds for the oscillator.
  • Fig. S23. Assembly of the oscillator.
  • Fig. S24. Molds for the earthworm-like walker.
  • Fig. S25. Assembly of the earthworm-like walker.
  • Reference (45)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mov format). Switching with the soft, bistable valve.
  • Movie S2 (.mov format). Autonomous grasping with the soft autonomous gripper.
  • Movie S3 (.mov format). Soft autonomous gripper without a top chamber.
  • Movie S4 (.mov format). Soft oscillator.
  • Movie S5 (.mov format). Soft oscillator equilibrating in intermediate state.
  • Movie S6 (.mov format). Soft oscillator restarts after crushing.
  • Movie S7 (.mov format). Autonomous earthworm-like walker.
  • Data file S1. Molds for the devices to measure the critical pressures.
  • Data file S2. Molds for the tubing used inside of the chambers of the valve.
  • Data file S3. Molds for the transparent valve.
  • Data file S4. Molds for the pneumatic switch.
  • Data file S5. Molds for the autonomous gripper.
  • Data file S6. Molds for the oscillator.
  • Data file S7. Molds for the earthworm-like walker.

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