Table 1.

Summary of observed failure modes.

		Broken spring after encapsulation	Omnetics interconnect malfunction	Impaired movement ability	Device isolation from fluid	Device mounting failure
Devices with mesh encapsulation (with actuation)	Device 1				×	×
	Device 2					×
	Device 3				×	×
	Device 4	×	×	×		×
	Device 5					×
	Device 6					×
	Device 7					×
	Device 8
Devices (without mesh with actuation)	Device 9				×
	Device 10				×
Control (without mesh without actuation)	Device 11				×
	Device 12				×