Supplementary Information for "Magnetic miniature actuators with six-DOF multimodal soft-bodied locomotion"

This Supplementary Information includes: Section S1- Fabrication method Section S2- Actuation method Section S3- Analysis of sixth-DOF torque Section S4- Experiments Figures S1-S31 Supporting Table References Other supplementary materials for this manuscript include the following: Supporting SI Videos S1-S10 Corresponding author(s) Email: [email protected]

Wetting ridge assisted programmed magnetic actuation of droplets on ferrofluid-infused surface

Flexible actuation of droplets is crucial for biomedical and industrial applications. Hence, various approaches using optical, electrical, and magnetic forces have been exploited to actuate droplets. For broad applicability, an ideal approach should be programmable and be able to actuate droplets of arbitrary size and composition. Here we present an “additive-free” magnetic actuation method to programmably manipulate droplets of water, organic, and biological fluids of arbitrary composition, as well as solid samples, on a ferrofluid-infused porous surface. We specifically exploit the spontaneously formed ferrofluid wetting ridges to actuate droplets using spatially varying magnetic fields. We demonstrate programmed processing and analysis of biological samples in individual drops as well as the collective actuation of large ensembles of micrometer-sized droplets. Such model respiratory droplets can be accumulated for improved quantitative and sensitive bioanalysis - an otherwise prohibitively difficult task that may be useful in tracking coronavirus.

A Polymeric Bilayer Multi-Legged Soft Millirobot with Dual Actuation and Humidity Sensing

There are numerous works that report wirelessly controlling the locomotion of soft robots through a single actuation method of light or magnetism. However, coupling multiple driving modes to improve the mobility of robots is still in its infancy. Here, we present a soft multi-legged millirobot that can move, climb a slope, swim and detect a signal by near-infrared irradiation (NIR) light or magnetic field dual actuation. Due to the design of the feet structure, our soft millirobot incorporates the advantages of a single actuation mode of light or magnetism. Furthermore, it can execute a compulsory exercise to sense a signal and analyze the ambience fluctuation in a narrow place. This work provides a novel alternative for soft robots to achieve multimode actuation and signal sensing.

Review of Electrothermal Actuators and Applications

This paper presents a review of electrothermal micro-actuators and applications. Electrothermal micro-actuators have been a significant research interest over the last two decades, and many different designs and applications have been investigated. The electrothermal actuation method offers several advantages when compared with the other types of actuation approaches based on electrostatic and piezoelectric principles. The electrothermal method offers flexibility in the choice of materials, low-cost fabrication, and large displacement capabilities. The three main configurations of electrothermal actuators are discussed: hot-and-cold-arm, chevron, and bimorph types as well as a few other unconventional actuation approaches. Within each type, trends are outlined from the basic concept and design modifications to applications which have been investigated in order to enhance the performance or to overcome the limitations of the previous designs. It provides a grasp of the actuation methodology, design, and fabrication, and the related performance and applications in cell manipulation, micro assembly, and mechanical testing of nanomaterials, Radio Frequency (RF) switches, and optical Micro-Electro-Mechanical Systems (MEMS).