Science Advances
Supplementary Materials
This PDF file includes:
- section S1. Prestretching of DE membranes.
- section S2. Hydrogel and muscle laminate.
- section S3. The fin laminate, soft body, and steering tail.
- section S4. Preliminary attempt to fabricate a soft fish by 3D printing.
- section S5. Measurements of speed, turning radius, and thrust.
- section S6. The onboard power and control system (Epod).
- section S7. Von Mises stress contours in FEA simulation.
- section S8. Water conductivity.
- section S9. Viscous effect of the DE membranes.
- fig. S1. The prestretch of the DE membrane.
- fig. S2. Fabrication of the muscle laminate.
- fig. S3. Fabrication of the fin laminate.
- fig. S4. Fabrication of the soft body and steering tail.
- fig. S5. Buoys and electromagnetic steering tail.
- fig. S6. Soft fish by 3D printing.
- fig. S7. Measurement of the speed and turning radius.
- fig. S8. The Epod.
- fig. S9. Von Mises stress distribution by FEA.
- table S1. Speed and turning radius.
- table S2. Capacitance, thrust, power, and efficiency.
- table S3. Dimensions and weight of the soft robot fish.
- Legends for movies S1 to S6
Other Supplementary Material for this manuscript includes the following:
- movie S1 (.mp4 format). The swimming of the tethered powered fish.
- movie S2 (.mp4 format). The flapping and undulatory motions of the fins of an anchored wired
fish at various frequencies (1, 3, and 4 Hz).
- movie S3 (.mp4 format). The swimming and turning of an untethered fish with and without a
payload (a video camera).
- movie S4 (.mp4 format). Video record captured by an onboard camera on a swimming fish.
- movie S5 (.mp4 format). The swimming of a transparent tethered fish in cold (0.4°C) and hot
(74.2°C) water.
- movie S6 (.mp4 format). The swimming of a transparent tethered fish and partially 3D-printed fish.
Files in this Data Supplement: