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. 2015 Jun 11;5:10768. doi: 10.1038/srep10768

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Copyright © 2015, Macmillan Publishers Limited

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(a) A schematic diagram of PDMS microtube tentacle actuator. Unlike the plain microtube (left), the one shape-engineered with a hump (right) can produce a tentacle-like spiraling motion. Fabrication steps: (b) Dip-coating of a cylindrical template with liquid-phase (LP) PDMS, (c) Lifting up of the PDMS-coated template with in situ heating, (d) Peeling of the cured PDMS microtube with a fiber-optic jacket remover, (e) The cross-sectional optical micrograph of a microtube shows the gravity-induced asymmetry (t₁ ≠ t₂). (f) Additional structures, such as the mount, end-facet sealing, and hump, can be installed to the already completed and tested microtube.