Science Robotics

Supplementary Materials

The PDF file includes:

  • Section S1. Design
  • Section S2. Fabrication
  • Section S3. Testing
  • Section S4. FE simulations
  • Section S5. Mass-spring model to predict the jump height
  • Section S6. Additional results
  • Fig. S1. Ideal design of the inflatable actuators.
  • Fig. S2. Manufacturable design of the inflatable actuators.
  • Fig. S3. Fabrication of the inflatable actuators.
  • Fig. S4. Baseline designs of the inflatable actuators.
  • Fig. S5. Experimental setup of the inflation with water.
  • Fig. S6. Experimental pressure-volume curves of the inflatable actuators.
  • Fig. S7. Experimental setup of the inflation with air.
  • Fig. S8. Jumping tests of the inflatable actuators.
  • Fig. S9. Effect of air compressibility.
  • Fig. S10. Numerical and experimental pressure-volume curves of the inflatable actuators.
  • Fig. S11. Pole displacement of the inflatable actuators.
  • Fig. S12. Three-dimensional simulations of the inflatable actuators.
  • Fig. S13. Axisymmetric simulations of the inflatable actuators.
  • Fig. S14. Extracting ΔE from the numerical p-v curves.
  • Fig. S15. Axisymmetric simulations of the inner cap.
  • Fig. S16. Asymmetric deformation emerges in designs with self-crossing pressure-volume curves.
  • Fig. S17. Axisymmetric simulations of the outer cap.
  • Fig. S18. Mass-spring model to predict jump height.
  • Fig. S19. Jump height prediction of the inflatable actuators.
  • Fig. S20. Validation of the spring-mass model.
  • Fig. S21. Improving the performance our soft fluidic actuators through a grid search.
  • Fig. S22. Influence of the outer cap stiffness on the actuators’ response.
  • Legends for movies S1 to S6

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.avi format). Snapping of spherical caps results in a sudden release of elastic energy.
  • Movie S2 (.avi format). Fast fluidic soft robots inspired by shell snapping.
  • Movie S3 (.avi format). Isochoric snapping enables jumping in fluidic soft robots.
  • Movie S4 (.avi format). Simplified mass-spring model to predict jump height.
  • Movie S5 (.avi format). Improving jumper design to increase jump height.
  • Movie S6 (.avi format). Inflatable actuator with repetitive jumping.

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