Science Robotics

Supplementary Materials

The PDF file includes:

  • Text S1. Actuators in robotic skin prototypes.
  • Text S2. Capacitive sensors and signal conditioning.
  • Text S3. Robotic skin construction.
  • Text S4. Predicting deformation of a known object.
  • Text S5. Predicting deformation of an unknown object.
  • Text S6. Control algorithms.
  • Text S7. Locomotion gaits using robotic skins.
  • Text S8. Rapid prototyping with robotic skins.
  • Fig. S1. McKibben actuator schematic.
  • Fig. S2. Capacitive sensor construction and characterization.
  • Fig. S3. Three robotic skin prototypes that vary in components, configuration, and integration.
  • Fig. S4. Force versus displacement curves for SMA/McKibben actuators and soft cylindrical bodies.
  • Fig. S5. A geometric model of a robotic skin deflecting a soft cylinder, with the neutral axis located along the surface of the cylinder.
  • Fig. S6. A geometric model of a robotic skin deflecting a soft cylinder, with the neutral axis located along the center of the cylinder.
  • Fig. S7. Control algorithms.
  • Fig. S8. Possible locomotion gaits using robotic skins with and without soft cylindrical bodies.
  • Fig. S9. Examples of rapid prototyping with robotic skins.
  • References (3739)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Transferability: continuum robots to locomotion robots.
  • Movie S2 (.mp4 format). Inchworm locomotion: teleoperated with camera.
  • Movie S3 (.mp4 format). Inchworm locomotion: controlled by light.
  • Movie S4 (.mp4 format). Continuum manipulation.
  • Movie S5 (.mp4 format). Wearable posture shirt.
  • Movie S6 (.mp4 format). Tensegrity ball rolling.

Files in this Data Supplement: