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. Author manuscript; available in PMC: 2015 Jan 7.
Published in final edited form as: Lab Chip. 2013 Nov 6;14(1):10.1039/c3lc51083b. doi: 10.1039/c3lc51083b

Figure 6. Manipulating a ball with an array of expandable chambers.

Figure 6

A) Four chambers expanded at a constant inlet pressure of 5 psi (34 kPa) for 100 ms, 250 ms, 500 ms, 1000 ms (left to right). B-E) Time-lapse images of a ball moved to the right by systematic expansion of the chambers in the array. B) The ball held in place by four chambers expanded for 250 ms. C) The ball tilted to the right by further expanding the chamber to the left of the ball for an additional 250 ms. D) The ball rolling to the right upon venting of the chamber to the right of the ball. The four chambers around the next position of the ball expand to guide the movement of the ball. E) The ball held in place in its new position. The left-most chamber, previously used to tilt the ball, is venting.