Science Robotics

Supplementary Materials

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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