Science Robotics

The PDF file includes:

• Modeling
• Hardware and materials
• EBM Characterization
• Movie details
• Fig. S1. Model of the EBM.
• Fig. S2. Static response of an EBM prototype, according to the model.
• Fig. S3. Model validation against experimental data.
• Fig. S4. Fabrication of an EBM array.
• Fig. S5. Reference dimensions of a single-unit circular EBM.
• Fig. S6. Schematic of the experimental setup.
• Fig. S7. Force variation during actuation tests.
• Fig. S8. Single-unit EBM characterization.
• Fig. S9. The effect of scaling the radial dimension of an EBM unit.
• Fig. S10. Actuation energy density of EBM units as a function of the applied load.
• Fig. S11. Cyclic actuation test.
• Fig. S12. 1 × 3 EBM array characterization.
• Fig. S13. 1 × 6 EBM array characterization.
• Fig. S14. Comparison of 1 × 3 and 2 × 3 EBM arrays.
• Fig. S15. Schematic of the EBM-driven pump.
• Fig. S16. Comparison of the actual flow with that estimated from the end-effector stroke.
• Fig. S17. Pump characterization.
• Fig. S18. Energy harvesting scheme.
• Fig. S19. Actuation-like behavior in the EBM generator.
• Table S1. Physical and geometrical properties of the EBM design used for simulation and validation.
• Table S2. Scaling rules for the EBM.
• Table S3. Features of the developed EBM prototypes.
• Legends for movies S1 to S3

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Other Supplementary Material for this manuscript includes the following:

• Movie S1 (.mp4 format). Dynamic tests.
• Movie S2 (.mp4 format). Lifting tests.
• Movie S3 (.mp4 format). Pump.