Science Robotics

Supplementary Materials

Supplementary Material for:

Translucent soft robots driven by frameless fluid electrode dielectric elastomer actuators

Caleb Christianson, Nathaniel N. Goldberg, Dimitri D. Deheyn, Shengqiang Cai, Michael T. Tolley*

*Corresponding author. Email: tolley{at}

Published 25 April 2018, Sci. Robot. 3, eaat1893 (2018)
DOI: 10.1126/scirobotics.aat1893

This PDF file includes:

  • Text S1. Swimming performance calculations.
  • Text S2. Experimental measurement of thrust.
  • Text S3. Longevity study.
  • Fig. S1. Fabrication process for bidirectional fluid electrode DEA.
  • Fig. S2. Bimorph experimental setup, images, and results.
  • Fig. S3. Performance comparison of carbon grease and FEDEA bimorphs.
  • Fig. S4. Photograph and schematic of experimental setup.
  • Fig. S5. Comparison of experimental data and kinematic model.
  • Fig. S6. Effect of actuation frequency for a bimorph FEDEA underwater.
  • Fig. S7. Sound intensity results.
  • Table S1. Fitting parameters for sinusoid kinematic model of the tail.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Video of robot swimming under regular and UV light.

Files in this Data Supplement: