Fig. 1.

A-D: Schematics of the mechanics of wrinkle actuation by inflation. The cavity in the actuator base (lowest blue block) can be inflated or deflated, which induces expansion/contraction of the elastomeric sheet (yellow). The thin film (upper blue line) can then become smooth or wrinkled.E. Top view of the actuator base (the elastomeric sheet is not yet attached). The rectangular cavity in the center can be pressurized via the visible hole. F (top view) and G&H side views of the device while inflated. I: Optical image of the wrinkled surface in a deflated state. The bright white spots are an artifact of the reflection illumination. (For interpretation of the references to colour in this figure legend, the reader is referred to the Web version of this article.)