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

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© The Author(s) 2021. Published by Oxford University Press on behalf of China Science Publishing & Media Ltd.

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted reuse, distribution, and reproduction in any medium, provided the original work is properly cited.

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Figure 4. — MAIPAMs with cascaded multiple-mode actuations. (A) Schematic of the 2D-based design pattern of a MAIPAM with two cascaded active elastomer-balloon arrays. Array one contains three active elastomer balloons (one type I balloon of number 0 and two type II balloons of numbers 1 and 2) and array two consists of two active elastomer balloons (one type I balloon of number 3 and one type III balloon of number 4). (B) A photograph of the accomplished MAIPAM. (C) Photographs of the cascaded multiple-mode actuations of the MAIPAM. By actuating the active 3D elastomer-balloon arrays in the order of 0 to 4, the MAIPAM can generate elongation, left bending, right bending, elongation and spiraling, respectively (Movie S4). (D) The application of the MAIPAM with cascaded multiple-mode actuations for gripping a glass bottle of weight 600 g (Fig. S12 and Movie S5).