Science Advances

Supplementary Materials

The PDF file includes:

  • Section S1. Shape recovery ratio test
  • Section S2. Grip/residual force tests and the adhesion characterization details
  • Section S3. SMP grippers
  • Section S4. Grip force tests and gripping demonstrations of the macroscaled objects
  • Section S5. Details of the mesoscaled transfer printing
  • Section S6. Details of the micromanipulation
  • Section S7. Details of the apparatus for the selective transfer printing
  • Fig. S1. Shape recovery ratio test.
  • Fig. S2. Details of the grip/residual force tests and the adhesion characterization.
  • Fig. S3. Photographs of the SMP universal grippers.
  • Fig. S4. Details of the grip force tests for macroscaled 3D objects.
  • Fig. S5. Demonstration of the gripping of larger object with a convex surface relief.
  • Fig. S6. Details of the grip force tests for planar objects.
  • Fig. S7. Illustration of the fabrication process of the mesoscaled steel sphere array on the Kapton tape.
  • Fig. S8. Transfer printing process of the mesoscaled steel sphere arrays.
  • Fig. S9. SMP gripper for the manipulation of microscaled objects and the micromanipulation system.
  • Fig. S10. Programmable laser heating apparatus with in situ microscopy.
  • Legends for movies S1 to S4

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Demonstration of the temporary shape fixing and permanent shape memory effect of the SMP.
  • Movie S2 (.mp4 format). Grip, transportation, and release of macroscaled objects.
  • Movie S3 (.mp4 format). Transfer printing of mesoscaled steel sphere arrays from the Kapton tape onto the PDMS substrate.
  • Movie S4 (.mp4 format). Printing of a 3 by 3 array of 300-μm steel spheres onto unconventional substrates.

Files in this Data Supplement: