Science Advances

Supplementary Materials

The PDFset includes:

  • Section S1. Characterization of microstructure
  • Section S2. WAXS measurements and analysis
  • Section S3. Optical microscope measurements
  • Section S4. DSC measurements and analysis
  • Section S5. Measurements of rheological properties
  • Section S6. Measurements of mechanical properties
  • Section S7. Infrared thermal imaging test of the soft robots
  • Section S8. Measurements of self-healing capacity
  • Section S9. Measurements of the pull-off force of grippers
  • Section S10. Measurements of the controllable grasping performance of grippers
  • Section S11. Measurements of the actuation-deactuation cycles of organohydrogel-based soft finger
  • Section S12. Sucker attachment force test
  • Fig. S1. Characterization and illustration of ANPs.
  • Fig. S2. Images of the preparation of the organohydrogels by UV photoinitiated in situ polymerization.
  • Fig. S3. Crystallization-melting property of triple-switching organohydrogels.
  • Fig. S4. The crystallization/melting enthalpy and crystallinity (χc) of triple-switching organohydrogel.
  • Fig. S5. WAXS spectrum of quadruple-switching organohydrogel.
  • Fig. S6. WAXS spectrum of quintuple-switching organohydrogel.
  • Fig. S7. Mechanical properties of triple-switching organohydrogels at different temperatures.
  • Fig. S8. Mechanical properties of quadruple-switching organohydrogel at different temperatures.
  • Fig. S9. Mechanical properties of quintuple-switching organohydrogels at different temperatures.
  • Fig. S10. Modulus of the organohydrogel at different temperatures during crystallization-melting cycles.
  • Fig. S11. Compression modulus of the organohydrogel material at original state and on the 50th crystallization-melting cycle df = 1, F = 0.01, and P = 0.975, analysis of variance (ANOVA).
  • Fig. S12. Images of the grippers’ components.
  • Fig. S13. DSC curve of the organohydrogel materials for soft-matter machines.
  • Fig. S14. The actuation process of the traditional silicone-based gripper and organohydrogel-based gripper.
  • Fig. S15. Infrared images of the gripper from the top view showing its increased temperature by powered at different voltages.
  • Fig. S16. The pull-off force of a single gripper at different voltages under constant pressure (25 kPa).
  • Fig. S17. Pressure (P)–bending angle (α) curves of actuation-deactuation cycles of the soft finger at different temperatures.
  • Fig. S18. Schematic of the structured organohydrogel-based soft gripper.
  • Fig. S19. Self-healing property of the organohydrogel.
  • Fig. S20. The influence of self-healing property on the soft finger’ working life span.
  • Fig. S21. Fabrication of the octopus-inspired tentacles.
  • Fig. S22. Compression modulus of organohydrogel and organohydrogel PPy at different temperatures.
  • Fig. S23. Infrared images of the octopus-inspired tentacle at different voltages.
  • Fig. S24. The temperature-time relationship of the organohydrogel-based soft robots under different voltages.
  • Fig. S25. The pull-off force of a single sucker on the surfaces with different roughnesses under varied electrical stimuli.
  • Fig. S26. Photos from the top view of different surfaces.
  • Table S1. Mechanical characteristics of triple-switching organohydrogels at different temperatures.
  • Table S2. Mechanical characteristics of quadruple-switching organohydrogels at different temperatures.
  • Table S3. Mechanical characteristics of quintuple-switching organohydrogels at different temperatures.
  • Table S4. Mechanical characteristics of the original and self-healed organohydrogels.
  • Legends for movies S1 to S8

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Pneumatic-thermal hybrid actuation of the organohydrogel-based soft gripper.
  • Movie S2 (.mp4 format). Repeated heating-actuating-cooling cycles of the soft gripper.
  • Movie S3 (.mp4 format). Adaptive grasping performance of the soft gripper.
  • Movie S4 (.mp4 format). Protective grasping through matching the modulus of the soft gripper and the object.
  • Movie S5 (.mp4 format). Adhesion on and grasping a phone on the smooth flat surface.
  • Movie S6 (.mp4 format). Adhesion on and grasping a rubber ball on the smooth curved surface.
  • Movie S7 (.mp4 format). Programmable adhesion on the rough flat surface of a resin box.
  • Movie S8 (.mp4 format). Programmable adhesion on the rough curved surface of a basketball.

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