Science Robotics

Supplementary Materials

The PDF file includes:

  • Supplementary Text
  • Fig. S1. Light absorption, surface topography, and deformability comparison of cPDMS, black-PDMS, Fe-PDMS, and PDMS.
  • Fig. S2. Microviews, characterization, and schematic illustration of swelling elastomer sample.
  • Fig. S3. The behavior of ferrofluid droplet on pristine and laser-scanned cPDMS surface.
  • Fig. S4. Visualization investigation of diesel colorant–mixed ferrofluid penetrating and diffusing into silicone matrix.
  • Fig. S5. Swelling and deforming process with pure solvent carrier.
  • Fig. S6. Elemental analysis of cross profile of the configured elastomeric ribbon sample.
  • Fig. S7. Influence of carbon content and used volume of ferrofluid.
  • Fig. S8. The relation of twisting curvature with the thickness (t) and adjacent distance (ΔL).
  • Fig. S9. Characterization of the swelling and deforming process.
  • Fig. S10. Demonstrations of configured origami robots based on programmable elastomeric sheets.
  • Fig. S11. Designed geometry of programmable 2D elastomeric sheet for configuring 3D soft origami robots demonstrated in Fig. 2.
  • Fig. S12. Visualization investigation of erasure process of IPA solvent penetrating and diffusing into silicone matrix.
  • Fig. S13. Detailed mechanism and characterization of recovering process.
  • Fig. S14. Designed geometry and processing laser parameters for reprocessable demonstration in Fig. 3.
  • Fig. S15. Characterization of recovering process.
  • Fig. S16. Shape contrast and reusage test of additive, subtractive, and subsurface reprocessing.
  • Fig. S17. Characterization of QD swelling process.
  • Fig. S18. Design and test of the low-friction swimming robot.
  • Fig. S19. Schematic illustration and experimental demonstration of the soft butterfly-like robot.
  • Fig. S20. Design of the untethered soft gripper and the controlling operation via a magnet.
  • Fig. S21. Fabrication and actuating details of the frog-like robot.
  • Table S1. Fabrication parameter setting of programming 2D elastomeric sheets for configuring 3D origami robots in Fig. 2.
  • Table S2. Fabrication parameter settings for shape contrast of additive, subtractive, and subsurface reprocessing.
  • Table S3. Fabrication parameter settings for recycling test of additive, subtractive, and subsurface reprocessing.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Configuring and recovering process.
  • Movie S2 (.mp4 format). Visualization of diffusion process.
  • Movie S3 (.mp4 format). Actuation and recovering of origami robots.
  • Movie S4 (.mp4 format). Locomotion mode reconfiguration.
  • Movie S5 (.mp4 format). The low-friction swimming robot.
  • Movie S6 (.mp4 format). The soft butterfly-like robot.
  • Movie S7 (.mp4 format). Multilocomotion soft gripper.
  • Movie S8 (.mp4 format). Frog-like multifunctional robot.

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