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15 protocols using ecoflex 00 10

1

Biomimetic Soft Robotic Finger Design

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As shown in Figure 3a, the finger consists of a flexible actuator made of elastic material (Ecoflex 00-10, Smooth-On, San Francisco, CA, USA) and an external limiting layer. The non-stretchable Kevlar fiber wrapped around the actuator limits its radial expansion. Finger-like joint bending was achieved by adding a carbon fiber board and wrapping heat shrink tubing on the outer layer. The elastic shell of the fingers on the outside was made of elastic material (Ecoflex 00-10). The palm was also made of elastic material (Dragon Skin 10 MEDIUM, Smooth-On, USA), which connected the base of the fingers to the palm through silicone. Two hands with different thumb orientations were prepared for user experiments (see Figure 3b).
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2

Fabrication and Characterization of Vaginal Tissue Phantoms

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Multiple-part elastomers were used to fabricate the vaginal tissue phantoms, which are described in detail by Chanda et al. [13 ,14 (link),15 ,16 (link),17 (link),18 ,19 (link),20 (link),21 ]. For this study, a two-part elastomer material with shore hardness 10 (Ecoflex® 0010, Smooth-On, Inc., Macungie, PA, USA) and another two-part elastomer with shore hardness 30A (Mold Star 30, Smooth-On, Inc.) were procured and mixed to obtain a four-part mixture. The resulting mixture comprised of 35 wt % of Shore 30A (part A), 35 wt % of Shore 30A (part B), 15 wt % of Shore 10 (part A), and 15 wt % of Shore 10 (part B). Twenty-seven test coupons were casted (Figure 2a) with this mix ratio in a mold, with coupon dimensions of 5 cm × 1 cm × 3 mm. Uniaxial mechanical tests were conducted on the test coupons using a tensile testing machine (MTS Criterion, Model 42, MTS Systems Corporation, Eden Prairie, MN, USA) at a test rate of 0.08 mm/s [13 ,14 (link),15 ], the results of which are summarized in Figure 2b. The stress versus stretch results from the tests were compared with the average mechanical property of excised human vaginal tissue samples in literature measured by Calvo et al. at a 0.08 mm/s test rate [22 (link)] (Figure 2b).
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3

Fabrication of Magnetically Actuated Millimeter-scale Swimmers

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Figure S2 (Supporting Information) illustrates the milliswimmer's design, which was fabricated based on the method outlined in our previous study.[26 (link)
] The head of the swimmer is composed of polydimethylsiloxane (PDMS, Sylgard 184, Dow Corning GmbH), with a 10:1 monomer to crosslinking agent ratio. A cubic magnet with a 1 mm side length (W‐01‐N Supermagnete, Webcraft GmbH) was embedded in the square cavity of the swimmer's head and sealed with Ecoflex 0010. The flexible sheet was made of either PDMS or Ecoflex 0010 (Smooth‐On, Inc). The bodies of EImid, EIlow swimmers were made of Ecoflex 0010 with thicknesses of 200 and 82 µm, respectively. The body of EIhigh swimmer was made of PDMS with a thickness of 200 µm. Other swimmers were all made of Ecoflex 0010 with a thickness of 200 µm.
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4

Encapsulated IMOS Device with Magnetic Hairs

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The IMOS device was encapsulated within an epoxy layer to protect the sensor planes and facilitate further integration. A mixture solution of epoxy resin and hardener (EpoxAmite 103/2, KauPo Plankenhorn e. k. Spaichingen, Germany) with weight ratio of 100:28 was sandwiched between the sensor surface and a cover glass with a space of 500 µm. Then, the mixture was polymerized overnight in an oven at 40 °C to form a solid encapsulation. A magnetic hair is fabricated by adhering a small NdFeB magnet (1 mm diameter, 1 mm height) to a polymeric hair (shaft) and encapsulating both in epoxy, forming a magnetic bulb at the end of the hair. The hairs are punctured in a 2-mm-thick, ultra-flexible Ecoflex (Ecoflex 0010, Smooth-On, Inc., Eston, PA, USA) layer and placed on top of a molded PDMS spacer layer with cavities, so that the bulb of the magnetic hair is positioned in the cavities enabling them to move freely with a high degree of freedom. PDMS (Sylgard 184, Dow Corning) film with cavities was replicated from a laser-cut poly(methyl methacrylate) (PMMA) mold, and used as a spacer to interface between the Ecoflex membrane with hair-attached magnets and the IMOS device. The hairs were gently touched and the electric signal was recorded over time.
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5

Fabrication of Sensing Foam Magnetoelastic Device

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The
sensing foam is fabricated by first placing two pieces of carbon paper
(Toray Carbon Fiber Paper TGP-H-030, 2 mm in diameter) that are connected
to two stretchable conducting wires in the bottom of the PDMS mold,
after which the foam solution is dispensed into the mold (8 mm inner
diameter and a 10 mm-thick insulating bottom). The foam fabrication
process continues then as described earlier. The soft foam and magnet
are glued together by a thin layer of a premixed solution of Ecoflex
00–10 (Smooth-On) under moderate heating (70 °C). Similarly,
the magnet/foam unit is attached to the soft coil using an adhesive
layer based on SEBS and THF solutions (10% (wt/vol)). The adhesive
is applied to the coil and the sensing interconnect and the foam are
placed while the THF solvent is still present in the SEBS film. The
assembly is complete once the SEBS layer solidifies.
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6

Cardiac Explant Stretching and Imaging

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Elastic chambers with a culture surface area of 7 × 23 mm2 or 7 × 26 mm2 (Figure 5B) were generated by curing silicone rubber (Ecoflex 00–10, Smooth-On Inc.) in customized molds. The chambers were coated with 10 µg/ml fibronectin after sterilization with 70% ethanol and dried. Heart explants were plated as described above. Three days after plating, the culture chambers were mounted in a bioreactor (Figure 5C) with a linear actuator (UltraMotion) operated by LabVIEW software via a motor controller (Motion Mind 3, Solutions Cubed LLC). The culture surface was uniaxially stretched at a constant elongation rate for 1 h to extend 50%, 100% or 200% of the initial 7 mm dimension (10.5 mm, 50% stretch, 14 mm, 100% stretch or 21 mm, 200% stretch; Figures 5C and S5), and then held at the stretched length for 18 h. Stretching at 50% caused a milder increase in multinucleation than stretching at 100%. With 200% stretch, migrated epicardial cells lost connections with each other (Figure S5). Thus, only 100% stretched samples were chosen for further analysis. Fluorescent images were taken by using a Zeiss Axiozoom microscope. Alexa Fluor® 594-conjugated Wheat germ agglutinin (WGA, ThermoFisher, #W11262) was incubated with explant culture at 2.5 µg/ml for 5 min in PBS right before imaging.
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7

Substrate Materials for Mechanical Testing

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We use an elastomer film (Ecoflex 0010, Smooth-on, USA) with the thickness ~5 mm and the modulus ~10.4 kPa as the substrate. The shear modulus of Ecoflex is measured by fitting stress vs. strain data from uniaxial tensile tests to the incompressible neo-Hookean law (Micro-Strain Analyzer, TA Instruments, USA). We choose films with a large range of moduli, from ~3 kPa to ~0.8 Gpa. Below 2 Mpa, a silicone elastomer Sylgard 184 (Dow Corning, USA) is spin-casted into thin films with thickness ~200 μm. The shear modulus of Sylgard is varied from 3.1 kPa to 1.4 MPa by changing its cross-linker concentration. Above 2 Mpa, natural rubber (~16 Mpa, 50 μm, McMaster-Carr, USA), low density polyethylene (LPE, ~96 Mpa, 25 μm, McMaster-Carr, USA) and Kapton (0.83 Gpa, 25 μm, McMaster-Carr, USA) are used to act as the films.
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8

Fabrication of Stretchable Ag Nanoparticle Paste

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Stretchable Ag nanoparticle paste 126-49 was purchased from Creative Materials. Tetramethylammonium hydroxide (TMAH) solution (25 wt % in H2O) and HMDA were purchased from Sigma-Aldrich and used as received. EMIM:TFSI was purchased from TCI America and used as received. Both silicone adhesive and Ecoflex 00-10 were purchased from Smooth-On. Electrically conductive epoxy adhesive 8331 was purchased from MG Chemicals. PVDF-HFP FC2299 was supplied by 3M Dyneon Fluoroelastomer and used as received. Polydimethylsiloxane (PDMS) Sylgard 184 was purchased from Dow Corning.
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9

Multilayer Force Sensor Fabrication

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The force sensor contains two functional layers: a sensing layer and a force amplification layer. The silicone insulated wires were loaded in the 3D printed mold first. Then two parts of the sensing layer were molded with the silicone mixture, a 3:1 ratio of 10:1 PDMS (Slygard 184, Dow Corning, MI, USA) and Ecoflex 0030. The force amplification base layer was molded with Ecoflex 0010 (Smooth-on, PA, USA). After curing, the micro-fillers were placed along the microchannel embedded in the sensing layer manually. These cylindrical fillers were prepared by cutting 0.5 mm diameter PMMA optical fiber in to 1mm length cylinders with a diode pumped solid state laser (Oxford Laser, Industrial System, UK). The two sensing layer bases were then plasma bonded together, and the conductive liquid was injected into the microchannel with syringes. After finishing the sensing layer, Ecoflex 0030 was spin-coated onto the sensing layer to wet bond the previously molded force amplification layer. Finally, the UV curable adhesive (Henkel 36480, Loctite 3943, CT, USA) was injected into the chamber between force amplification layer and the sensing layer with syringes, and was cured under UV light for 1 min. Figure S5 in supporting information shows the force sensor fabrication process.
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10

Fabrication of Silicone and Epoxy Inks

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Sylgard 184 and Sylgard 186 are purchased from Dow Corning, USA. DragonSkin 30, DragonSkin 10, Ecoflex 00-30, and Ecoflex 00-10 are purchased from Smooth-on, USA. The silicone ink was prepared by directly blending Part A and B at a specific mass ratio in a 50 ml beaker. For Sylgard 184, Part A: B = 10:1 is used unless other mixing ratios are specified. For Slygard 186, Part A:B = 10:1. For DragonSkin 30, DragonSkin 10, Ecoflex 00-30, and Ecoflex 00-10, Part A:B = 1:1. For DragonSkin 10 + 20 wt% SiO2 and blended using a planetary mixer (ARV-310, Thinky, Japan) at 2000 rpm for 5 min. The epoxy ink is purchased from Sinoepc China, and mixing E39D and E20 with 1:1 weight ratio by manual stirring under heating with a heat gun, then added 14.2 phmr 2-ethyl-4-methylimidazole (Aladdin, China) as curing agent. For all these materials, colorants are added for identification.
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