Science Robotics

Supplementary Materials

The PDF file includes:

  • Note S1. Pattern selection of kirigami shell.
  • Note S2. Numerical simulations.
  • Note S3. Variation of appendages.
  • Note S4. Evaluation of friction.
  • Note S5. Theoretical modeling.
  • Note S6. Grasping acquisition region.
  • Fig. S1. Geometry and deformation of kirigami patterned sheet versus kirigami patterned shell.
  • Fig. S2. Effect of tab configuration on shape-morphing of kirigami shell.
  • Fig. S3. Simplification of mechanical modeling guided by finite element simulation.
  • Fig. S4. Demonstration of the variation of gripper appendages.
  • Fig. S5. Effect of friction on pulling force.
  • Fig. S6. Force transmission between actuation and pinching.
  • Fig. S7. Investigation of gripper grasping region.
  • Fig. S8. Images demonstrating experimental setup for measuring actuation force, pulling force, and pinching force.
  • Fig. S9. Magnetically actuated kirigami shell gripper.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Kirigami shells grasping various objects with distinct shape, size, and mechanical properties.
  • Movie S2 (.mp4 format). Finite element simulations showing shape morphing of kirigami shell.
  • Movie S3 (.mp4 format). Finite element simulations showing energy evolution of kirigami gripper as object is pulled out.
  • Movie S4 (.mp4 format). Gripper array transfers 24 hydrogel spheres simultaneously.
  • Movie S5 (.mp4 format). Magneto kirigami gripper capturing free-falling stone.

Files in this Data Supplement: