Fig. 3: FUPT-based actuators and in-pipe untethered soft robot. | Nature Communications

Fig. 3: FUPT-based actuators and in-pipe untethered soft robot.

From: Focused ultrasound enables selective actuation and Newton-level force output of untethered soft robots

Fig. 3

a Photographs of the FUPT-based expansion actuator. b Diameter change of the expansion actuator with different actuation voltage. Inset: simulated deformation of the expansion actuator. c Photographs of the FUPT-based elongation actuator. d Length variation of the elongation actuator with different actuation voltages. Inset: simulated deformation of the elongation actuator. e Schematic diagram and corresponding (f) applied signals and (g) images showing the operating principle and motion of the in-pipe robot. h Overlaid images showing the upward and downward movement of the in-pipe soft robot. i Displacement and (j) stride length for every cycle of the in-pipe robot obtained from Supplementary Movie 1.

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