Science Robotics

Supplementary Materials

The PDF file includes:

  • Supplementary Text
  • Fig. S1. The comparison of adhesion property between water droplet and M-spray droplet.
  • Fig. S2. The curing process and magnetic property of M-spray and the equipment used for magnetic field production.
  • Fig. S3. Actuating performance of the M-skin under magnetic field.
  • Fig. S4. Mechanical properties and adhesiveness of the cured M-spray.
  • Fig. S5. The design and locomotion analysis of diverse M-skin millirobots.
  • Fig. S6. The construction process of M-skin millirobots.
  • Fig. S7. The actuation of M-skin millirobots by permanent magnet.
  • Fig. S8. Locomotion demonstration of the constructed M-skin millirobots.
  • Fig. S9. The performance evaluation of different motion modes on diverse surfaces.
  • Fig. S10. The environment adaptability and obstacle overcoming ability of diverse M-skin millirobots.
  • Fig. S11. The constructed M-skin millirobots work in both land and liquid environment.
  • Fig. S12. Controllable magnetic-induced disintegration of M-skin in aquatic environment.
  • Fig. S13. The process that M-skin detaches after task completing from target inanimate objects.
  • Fig. S14. The disintegration of M-skin with different material components in strong acid environment (pH 1) without magnetic oscillation.
  • Fig. S15. The influence of physiological blood flow on the locomotion speed and disintegration process of M-skin catheter.
  • Table S1. The performance evaluation summary of different motion modes under diverse surface conditions.
  • Table S2. The swelling and disintegration of M-skin without magnetic oscillation under different environmental temperature and pH.
  • Table S3. The swelling and disintegration time of cured film composed of different materials without magnetic oscillation.
  • Table S4. Substrates used in the M-skin disintegration testing.
  • Legends for movies S1 to S7
  • References (36, 37)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Coating of the M-spray droplet on target surfaces.
  • Movie S2 (.mp4 format). M-spray–enabled M-skin millirobots.
  • Movie S3 (.mp4 format). The environment adaptability of constructed M-skin millirobots.
  • Movie S4 (.mp4 format). Topology order reprogramming of the M-skin millirobot.
  • Movie S5 (.mp4 format). Magnetic-induced disintegration.
  • Movie S6 (.mp4 format). M-skin–covered catheter for active navigating.
  • Movie S7 (.mp4 format). M-skin–covered capsule for target drug delivery.

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