Fig. 6: Imaging and control system for FUPT actuated soft robot. | Nature Communications

Fig. 6: Imaging and control system for FUPT actuated soft robot.

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

Fig. 6: Imaging and control system for FUPT actuated soft robot.

a, b Diagram and (c) workflow of the proposed control system. d Photograph of the experimental setup. e A series of ultrasound and optical images of the soft actuator during actuation in water environment. f Schematic and (g) ultrasound images illustrating the biopsy process controlled by the proposed system.

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