Science Robotics

Supplementary Materials

The PDF file includes:

  • Materials and Methods
  • Text
  • Fig. S1. Design of the molds for the tubing used inside the chambers of the inverter.
  • Fig. S2. Assembly of the tubing used inside the chambers of the inverter.
  • Fig. S3. Design of the molds for the inverter.
  • Fig. S4. Assembly of the inverter.
  • Fig. S5. Design of the molds, and assembly, for the ball roller (circular track).
  • Fig. S6. Design of the molds, and assembly, for the rolling hexagonal frame.
  • Fig. S7. Design and assembly of the soft, undulating stage.
  • Fig. S8. Unactuated and actuated inverter schematics, with labels, alongside photographs.
  • Fig. S9. Membrane snap-through hysteresis.
  • Fig. S10. Experimental setup for characterization of the soft, pneumatic inverter.
  • Fig. S11. Inverting Schmitt trigger–like behavior.
  • Fig. S12. Psupp does not influence the critical pressures.
  • Fig. S13. Pneumatic RC circuit analog.
  • Fig. S14. A soft linear ball roller connected to the ring oscillator.
  • Fig. S15. Soft stage mounted on three linear actuators connected to the ring oscillator.
  • Fig. S16. The soft ring oscillator can control and meter fluid flows.
  • Fig. S17. Experimental setup for the demonstration of metering of fluid.
  • Legends for movies S1 to S6
  • Reference (41)

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Other Supplementary Material for this manuscript includes the following:

  • Data file S1 (.zip format). Zip file containing stereolithography (STL) files of 3D-printed molds used in this work.
  • Movie S1 (.mp4 format). Single inverter demonstration: When the input is off (0), the output is on (1), and vice versa.
  • Movie S2 (.mp4 format). High-strain deformation test: The ring oscillator is manually compressed to 25% of its initial size, after which it resumes operation.
  • Movie S3 (.mp4 format). Translation of spherical object around a circular elastomeric track.
  • Movie S4 (.mp4 format). Actuation of a rolling soft robot with an integrated soft ring oscillator.
  • Movie S5 (.mp4 format). Separation using an elastomeric stage driven by the soft ring oscillator.
  • Movie S6 (.mp4 format). Fluid-metering valves controlled by the soft ring oscillator.

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