Fig. 4: Characterization of a peristaltic pump.

a Closing behavior of the macrovalve. Lines for visual guidance. dP = differential pressure between inlet and outlet pressures of the flow channel, which are variated and indicated by the different colors (n = 1). b Pumping rate of the peristaltic pump at different frequencies and pressures of actuation with a 6-phase pattern (101, 100, 110, 010, 011, 001). A linear relation is observed between the pumping rate and the actuation frequencies for all three actuation pressures. 1 bar, R2 = 0.9999 (n = 3); 1.2 bar, R2 = 0.9997 (n = 1); 1.5 bar, R2 = 0.9998 (n = 1). c Schematic illustration of the 6-phase actuation pattern of the peristaltic pump