Science Robotics
Supplementary Materials
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.
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.
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