Figure 4
Generation of complex motions of the well plate with the DEA-based robotic mixer. Conceptual sequences of activation/deactivation of the actuation segments and corresponding paths followed by the well plate’s centre: (A) star; (B) cross; (C) circle; (D) figure of eight. Red and orange colouring of an actuation sector indicates electrical activation at 2 and 1 kV, respectively. The collection of blue dots in each drawing indicates the conceptual trajectory of the well plate’s centre up to that instant. The collection of tiny black dots on the right-hand side next to each sequence shows an example of an experimental trajectory. See Supplementary Movie 2.
