Supplementary Material for:

Electronic skins for soft, compact, reversible assembly of wirelessly activated fully soft robots

Junghwan Byun, Yoontaek Lee, Jaeyoung Yoon, Byeongmoon Lee, Eunho Oh, Seungjun Chung, Takhee Lee, Kyu-Jin Cho,* Jaeha Kim,* Yongtaek Hong*

*Corresponding author. Email: yongtaek{at}snu.ac.kr (Y.H.); jaeha{at}snu.ac.kr (J.K.); kjcho{at}snu.ac.kr (K.-J.C.)

Published 30 May 2018, Sci. Robot. 3, eaas9020 (2018)
DOI: 10.1126/scirobotics.aas9020

This PDF file includes:

• Note S1. Fully printable SHE assembly and its physical properties
• Note S2. Design criteria of fragmented SHE design for fine conformability to soft robots
• Note S3. Details on wireless inter-skin communication flow
• Note S4. Details on experimental setup for the reliability test under artificial noise condition
• Fig. S1. Schematic circuit diagrams of the devised e-skin pair.
• Fig. S2. SMD-level fragmentation of electronic functionalities.
• Fig. S3. Circuit designs based on the homemade circuit routing program.
• Fig. S4. Fully printable SMD assembly for e-skins.
• Fig. S5. Multilayer interconnection design in e-skins.
• Fig. S6. Two-dimensional wrinkled morphologies of an e-skin surface.
• Fig. S7. Comparison between printed strain-isolating structures.
• Fig. S8. Experimental verification of the gradual strain-absorbing effect near the SMD contact areas.
• Fig. S9. Three-dimensional finite element analysis on printed coplanar strain-isolating architectures.
• Fig. S10. Design criteria of fragmented SHE design for fine conformability.
• Fig. S11. Stretchability and conformability to dynamic surfaces.
• Fig. S12. Signal quantizing module in the controlling e-skin.
• Fig. S13. Continuous monitoring of wireless inter-skin communication.
• Fig. S14. Digital mixing of decoded signals in the activating e-skin.
• Fig. S15. An experimental setup for the reliability test.
• Fig. S16. Details on experimental setup for the reliability test of encoded and nonencoded signals under artificial noise condition.
• Fig. S17. Bending force of the PEDOT:PSS soft actuator.
• Fig. S18. Coadaptive movement of the e-skin–integrated soft robot laminated onto a crumpled convex surface.
• Table S1. Specifications of the used SMDs.

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Thermographic visualization of real-time activation of a soft robotic hand.
• Movie S2 (.mp4 format). Wireless operation of the e-skin–integrated soft robotic hand via wireless inter-skin communication.
• Movie S3 (.mp4 format). Coadaptive movement of a fully soft robotic hand in a confined space.
• Movie S4 (.mp4 format). E-skin–mediated universal soft robotic activation.