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. 2018 Sep 28;8:14518. doi: 10.1038/s41598-018-32757-9

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fabricating the jet-actuator of the robot. (A) Fabrication of muscle laminate: A DE membrane (VHB membrane with initial thickness of 1 mm) was biaxially pre-stretched (3 × 3). Carbon grease was sandwiched with the shape of rings (inner diameter 25 mm, outer diameter 75 mm) by two pre-stretched membranes. (B) Two circular magnets with diameter of 20 mm was put on the center of both sides of muscle laminate. (C) Muscle laminate was assembled on the chamber. (D) An arch was assembled with a magnet on the top of the acrylic chamber.