Figure 4
The circulating water system consists of the robotic cover, water supply port, Peltier devices embedded in the water tank and the micro water pump. There are three types of thermal effects in the system: absorbing/generating heat from Peltier devices based on a Peltier effect, heat convection through the circulating water (1), and heat conduction through the surface layer (gel) of the robotic cover (2). The water temperature is controlled by Peltier devices so that the robotic cover’s temperature matches the desired one.
