Science Robotics

Supplementary Materials

The PDF file includes:

  • Materials and Methods
  • Fig. S1. Models used to derive electrostatic force in the EPP.
  • Fig. S2. Flowchart showing structure of a recursive MATLAB script for the EPP model.
  • Fig. S3. Results from the EPP simulation.
  • Fig. S4. Capability of the EPP (D1) in generating pressure.
  • Fig. S5. Experimental setup.
  • Fig. S6. Actuation of BAM.
  • Fig. S7. Pressure, input/output energy, power, and efficiency of EPP (D4) from pressure-generating evaluation.
  • Fig. S8. Comparison of energy, power, and efficiency of four EPPs with different designs (D1 to D4).
  • Fig. S9. Flow rate and pressure of the EPP pump (D1).
  • Fig. S10. Pressure generation of the bent EPP (D1).
  • Table S1. Design detail of four fabricated EPPs.
  • Legends for movies S1 to S8

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Actuation of a pneumatic artificial muscle by an EPP.
  • Movie S2 (.mp4 format). Zipping behavior of an EPP-BAM system with different injected air volumes.
  • Movie S3 (.mp4 format). EPP actuation speed for different applied voltages.
  • Movie S4 (.mp4 format). An EPP-BAM system at different frequencies.
  • Movie S5 (.m4v format). Voltage control of the EPP-BAM system.
  • Movie S6 (.mp4 format). Antagonistic coupling of two EPP-BAM systems.
  • Movie S7 (.mp4 format). Arm-flexing robotic device.
  • Movie S8 (.m4v format). EPP-driven continuous-pumping system.

Files in this Data Supplement: