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. 2021 Mar 24;8(10):nwab048. doi: 10.1093/nsr/nwab048

Figure 3.

Figure 3.

MAIPAMs with parallel multiple-mode actuations. (A) Schematic of the 2D-based design pattern of a MAIPAM with five parallel active elastomer balloons (including one type I balloon of number 0, three type II balloons of numbers 1 to 3 and one type III balloon of number 4). (B) A photograph of the accomplished MAIPAM. (C) By individually actuating the active 3D elastomer-balloon arrays in the order of 0 to 4, the MAIPAM can generate elongation, three bending and spiraling modes, respectively. By simultaneously actuating two active elastomer balloons, 1 and 2, 2 and 3, 1 and 3, the MAIPAM can generate another three bending modes. Further, when active elastomer balloons 1 to 3 are simultaneously actuated, the MAIPAM can achieve an elongation mode because of its symmetric structure (Movie S2). (D) Schematic of the 2D-based design pattern of a MAIPAM with 10 parallel active elastomer balloons (10 type II balloons of numbers 0 to 9) for omnidirectionally bending. (E) A photograph of the MAIPAM assembled into a decagonal prism. (F) The application of the MAIPAM with parallel multiple-mode actuations to record videos in a confined space with a small camera, such as recording the alphabets (‘MAIPAM’ and ‘SJTU’) on 10 surfaces of the decagonal prism (Movie S3).