Untethered Nanotextured Thermopneumatic Soft Actuators Operable with Different Stimuli: Thermal Blowing, Infrared Light, and Electromagnetic Field

Figure 4

Changes in the (a) curvature and (b) force of the UTPSA as a function of distance under thermal blowing. Changes in the (c) curvature and (d) force of the UTPSA as a function of distance under infrared light. Changes in the (e) curvature and (f) force of the UTPSA as a function of distance under an electromagnetic field. Changes in the curvature of the UTPSA depending on the obstacle: (g) glass and (h) an alumina substrate. The cyclic performance of the UTPSA triggered by unobstructed (i) thermal blowing, (j) infrared light, and (k) electromagnetic field.

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