Fig. 4: FUPT-based on-demand liquid cargo delivery soft robot and multiunit soft capsule. | Nature Communications

Fig. 4: FUPT-based on-demand liquid cargo delivery soft robot and multiunit soft capsule.

From: Focused ultrasound enables selective actuation and Newton-level force output of untethered soft robots

Fig. 4: FUPT-based on-demand liquid cargo delivery soft robot and multiunit soft capsule.

a Structural design and image of the capsule unit. b A series of images showing the ultrasound actuated liquid cargo release through the tissue (ultrasound waves originate from the bottom and travel through the tissues to the soft capsule). c Schematic image showing the structure of the in-pipe soft robot with a capsule unit. d Overlaid images of the robot that moving in the straight and curved pipes. e Relationship between the stride length of the robot and the radius of curvature of the pipes. Error bars represent the standard deviation (n = 3). f Overlaid images showing the FUPT-driven on-demand liquid cargo delivery and release process. g Structural design of the multiunit soft capsule. h A series of images demonstrating the selective liquid cargo release by aligning the high-intensity acoustic field with different chambers.

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