Fig. 2: Principle of programmed shape deformation. | Nature Communications

Fig. 2: Principle of programmed shape deformation.

From: Ionic shape-morphing microrobotic end-effectors for environmentally adaptive targeting, releasing, and sampling

Fig. 2

a Fabrication of microelectrodes and ISMEs. The various patterned microelectrodes are fabricated by coating a layer of photoresist on the FTO glass and photolithography. And the ISME is fabricated through inhomogeneous electrodeposition. b Schematic of alginate hydrogel electrodeposition under different electric fields. Two figures represent that the H+ concentration and gel always decrease along the perpendicular direction. c Current density simulation and deformation of the corresponding alginate hydrogel hexagram, shuriken, and triangulum ISME microstructures. Through the design of the microelectrodes and the control of current density, the inhomogeneity electric field can be generated. Under inhomogeneous electrodeposition, the alginate microstructures are able to achieve shape morphing under pH or ionic stimulus. Scale bar: 500 μm.

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