Science Advances

Supplementary Materials

The PDFset includes:

  • Supplementary Text
  • Fig. S1. Muscle orientation along the subumbrellar surface.
  • Fig. S2. Details of the adapted hydrodynamic model.
  • Fig. S3. Parametric dependencies of enhanced propulsion.
  • Fig. S4. Additional parametric dependencies of enhanced propulsion model parameter sweeps.
  • Fig. S5. Power requirements of the microelectronic system versus animal.
  • Table S1. Experimental parameters (columns) for each electrical signal characteristic test (rows).
  • Table S2. Model parameters, including the resting body diameter (dr), range of diameters between relaxation and contraction geometries (Δd), resting body height (hr), range of height between contraction and relaxation geometries (Δd), tissue height or depth (hj), contraction time (tc), relaxation time (tr), and a geometric scale factor (s) that factors into each geometric parameter proportionally.
  • Table S3. External power per mass calculations of various robotic constructs.
  • Legend for movies S1
  • References (43)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mov format). A comparison of bell geometries for unstimulated swimming with an inactive swim controller embedded (left) and externally controlled swimming at 0.50 Hz (middle) and 0.88 Hz (right).


Correction (5 March 2020): An earlier version contained typographical and plotting errors related to literature and the theoretical models that were applied to measurement data. The main text, Fig. 4-6, and supplementary materials were updated.

The original version is accessible here.

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