Fig. 3: Comparison and analysis of three design principles of the proposed mechanism.
From: Beyond surface tension-dominated water surface jumping
a Schematic illustration the initial momentum acquisition of the soft and rigid energy transfer system. b The take-off velocity change of the soft and rigid connection robots. Note that the take-off velocity is the whole speed of the soft robot that obtained from Supplementary Movie 1. c The high speed camera images illustrate the response time of the representative actuators (i.e., hard spring, soft spring and fast-response actuator) launching from glass substrate. Note that the initial stresses are set to approximately 5.5 N. d The comparison of the output force/mass ratio and response time of the representative actuators launching from glass substrate. Note the detailed calculation of Fmax/mactuator can be found in Supplementary Note 1. e The image illustration of the experimental setup, the PDMS pad with and without micropillar array mounted on a force sensor and slowly pulled out from the water surface at a constant speed of 0.1 mm/s (left). The contact angle of the PDMS pad with and without micropillar array (right). Inset: SEM image of the top view of the micropillar array. f The surface tension change during the process of the PDMS pad pulled out from water surface.
