www.sciencemag.org/cgi/content/full/337/6096/828/DC1

Supplementary Material for

Camouflage and Display for Soft Machines

Stephen A. Morin, Robert F. Shepherd, Sen Wai Kwok, Adam A. Stokes, Alex Nemiroski, George M. Whitesides*

*To whom correspondence should be addressed. E-mail: gwhitesides@gmwgroup.harvard.edu

Published 17 August 2012, Science 337, 828 (2012)

DOI: 10.1126/science.1222149

This PDF file includes:

Materials and Methods

SOM Text

Figs. S1 to S6

References (31–35) Other Supplementary Material for this manuscript includes the following: (available at www.sciencemag.org/cgi/content/full/337/6096/828/DC1)

Movies S1 to S4

Supplemental Online Material

for

Camouflage and Display for Soft Machines

Stephen A. Morin1, Robert F. Shepherd

1, Sen Wai Kwok

1, Adam A. Stokes

1, Alex Nemiroski

1,

and George M. Whitesides1,2*

1Department of Chemistry and Chemical Biology, Harvard University

12 Oxford Street, Cambridge, MA 02138

2Wyss Institute for Biologically Inspired Engineering, Harvard University,

60 Oxford Street, Cambridge, MA 02138

*Author to whom correspondence should be addressed: gwhitesides@gmwgroup.harvard.edu

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Materials and Methods

Materials. Soft robots and the various color layers were fabricated from silicone rubbers

and polyethylene tubing. Ecoflex® two part platinum cure silicone rubber kits (0010, 0030, and

0050) were purchased from Smooth-On, Inc. Polydimethylsiloxane (PDMS) was purchased

from Dow Corning Corp. (Sylgard® 184). Polyethylene tubing, Intramedic

TM PE60 and PE160

by Becton Dickinson and Company, for creating both pneumatic inlets and microfluidic

inlets/outlets was purchased from VWR®. All materials were used as received and prepared

following the manufacturers protocols.

Solutions flowed through the color layers were prepared in-house. Opaque watercolor

gouache paints were purchased from Savoir-Faire. Bis(2,4,6-trichlorophenyl) oxalate (TCPO)

was purchased from Fluka. Fluorescent dyes were created from Premium Décor® paints

purchased from General Paint and Manufacturing Company. All other reagents and solvents

were purchased from Sigma-Aldrich®. All chemicals were used as received without further

purification.

Preparation of Visible Wavelength Dye Solutions. With the exception of the blue and red

solutions used to show the design of the various color layers (Fig. 1, Fig. S1), we made aqueous

solutions colored in the visible spectrum (and ultraviolet, although we have not demonstrated this

capability; silicone elastomers such as polydimethylsiloxane, PDMS, are transparent to 250 nm

(31)), by mixing and adjusting the relative proportions of different colored gouache watercolor

paints and diluting the resulting mixtures with water. The blue and red dye solutions were

prepared by diluting aqueous stock solutions of methylene blue (0.6 mg/mL) and of amaranth

dye (0.5 mg/mL) with water respectively. More hydrophobic dyes, such as methylene blue, were

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absorbed by the color layers over time (several minutes), but the absorbed dye was easily

removed by pumping solvents such as ethanol or methanol through the color layer.

Preparation of Chemiluminescent Solutions. A mixture of TCPO (179 mg, 0.4 mmol) and

9,10-bis(phenylethynyl)-anthracene (10 mg) was dissolved in diethyl phthalate (100 mL) and

vigorously stirred with a magnetic stirbar in a 125-mL Erlenmyer flask for 30 min at room

temperature to afford a yellow solution (reagent A). In a separate 125-mL Erlenmyer flask, a

solution of 80:20 diethyl phthalate/ tert-butanol (v/v) (60 mL) was added 50% aqueous hydrogen

peroxide solution (w/w) (20 mL), forming a mixture of two immiscible liquids (reagent B).

Immediately before the initiation of chemiluminescence, reagent B was vigorously swirled and a

volume of 20 mL of the reagent was measured out with a 100-mL graduated cylinder. The

reagent B (20 mL) was subsequently transferred to a 50-mL FalconTM

tube containing reagent A

(20 mL). Mixing of the two reagents by shaking led to chemiluminescence (emission of green

light with this dye) and the addition of catalytic amount of sodium salicylate to the reaction

mixture (5–10 mg, 0.03-0.06 mmol) increased the intensity of light emission. Once prepared, the

glow stick solution was immediately transferred to the color layer of the soft robots via a 10-mL

plastic syringe. To create a blue chemiluminescence solution the same procedure was followed

except that 9,10-bis(phenylethynyl)-anthracene was replaced with 9,10-diphenylanthracene (10

mg). This chemistry is standard for commercially available glow sticks (32).

Preparation of Fluorescent Solutions. Fluorescent solutions were created by dispensing

approximately 2 mL of fluorescent DayGlo® paint into a 50 mL conical tube. It was then diluted

to a volume of 25 ml using acetone, which does not significantly swell or react with silicone

elastomers (33), and thoroughly mixed to achieve a homogeneous solution.

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Robot and Color Layer Fabrication. We are developing “soft” robots (a type of soft

machine) that are actuated pneumatically, are deformable, simple to fabricate, and potentially

inexpensive. In prior publications, we have described the fabrication of pneu-net actuators (6),

using soft lithography (34), and illustrated how simple arrays of pneumatic channels can enable

complex functions such as gripping and locomotion (6-8). The quadrupedal soft robots we used

here, were fabricated as described in Ref. #7.

We fabricated the color layers via soft lithography. The microchannels used here were much

larger (the smallest dimension was 380 m Fig. 1A main text) than the 25 m lateral resolutions

routinely used in microfluidic devices (dimensions down to 10 nm are accessible) (35). To

create the color layers (Fig. S1), masters were fabricated from acrylonitrile butadiene styrene

(ABS) using a 3D printer (Dimension 3D, Stratasys Inc.). We molded the color layers from

Ecoflex® (0010 or 0030) and then sealed them against a thin (0.25 mm) Ecoflex® film (Fig. 1

main text). An optimal color layer thickness of 1.5 mm minimized the pressure drop across the

channels, while providing a useful path length for light absorption by the dye. Ecoflex® is not as

transparent as other polymers, such as polydimethylsiloxane or polycarbonate; however, these

other polymers do not stretch without plastic deformation to the extent necessary to match the

pneu-net layer’s range of motion. The inlet/outlets for the color layer were created with

polyethylene tubing (I.D. 0.08 cm). Finished color layers were bonded to the top of the

quadrupedal soft robots by coating each contact surface with liquid Ecoflex®, pressing them

together, and curing the assembly at 70 °C for 20 minutes.

Pneumatic Actuation, Color Layer Operation, and Heating/Cooling of Colorants. We

illustrated soft robot camouflage using tethers—the pressurized gases, heated/cooled liquids, and

control systems necessary to run the robots were kept off-board. For many applications tethered

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robots are perfectly suited (e.g., assembly lines). Tethered operation reduces the size and weight

of the robots by leaving power sources and pumps off-board.

We ran the pneumatic actuation sequence for locomotion using a system of solenoid valves

controlled by Labview © as reported previously (7). We pumped the various heated/cooled dye

solutions, pigment dispersions, chemiluminescent solutions, fluorescent solutions, and water

through the color layers (Fig. S1) to change the visual impression of the robots in the visible and

infrared (IR). We pumped the solutions manually with syringes or automatically with syringe

pumps (the typical pumping rate was 2.25 mL/min); in a more highly developed or autonomous

(and probably larger) machine, liquids could be carried on-board (1.5 mL of liquid provides

coloration to 54 cm2 of surface). To control the thermal radiance of the soft robots we used

heated/cooled solutions (Fig. 4 main text). We heated the solutions using an oven set to 70 °C

and cooled them using a refrigerator at 2 °C (the working temperatures of PDMS and Ecoflex are

between ~ −20 °C and ~250 °C and the thermal conductivity is 0.16 Wm-1

K-1

(31)). We

removed the coloration or luminescence by pumping water, followed by air, through the

channels. The ability to tailor the color of the spectrum using temperature-controlled solutions

of dyes or pigment dispersions was an advantage of pumped fluids.

Image Analysis of Soft Robot Camouflage. We camouflaged the robot using disruptive

coloration and background matching to hide its location. To quantify the effectiveness of the

camouflage, we performed a basic image analysis (Mathematica®, from Wolfram Research)

focusing on brightness, contrast, and edge comparison between the robot and its background

(29). We first collected images of an un-camouflaged and a camouflaged robot on a rock bed

(Fig. 2B, main text).

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We converted each image to grayscale with pixel brightness represented by an 8-bit number

between 0 (black) and 255 (white). The images in Fig. 2B of the main text have roughly equal

contributions from each of the RGB channels; therefore, we present the image analysis in

grayscale. The same analysis could be performed on each color channel separately without

changing the conclusion. We partitioned each into 6 regions (Fig. S4A), one containing the

robot, and the rest containing regions of background. We applied a manually drawn masking

layer (Gimp, from GNU Project) to the regions with a robot to isolate it from the background

(Fig. S4C), and pixel brightness histograms were computed for the camouflaged and un-

camouflaged robots, as well as the rocky background, and are shown as normalized histograms

in Fig. 3 of the main text. The background distribution shows contribution from all background

regions. We then computed the mean brightness, ,̅ and RMS contrast, ̅ , for each region

(Fig. S4B) according to,

(1)

(2)

where N was the total number of pixels, i is the pixel index, and I is the pixel intensity. We

tabulated the computed values in Fig. S4D. The background values are the average of all

background regions. We find, for this particular robot, that the mean brightness and contrast of

the robot with camouflage is closer to that of the background than the robot without camouflage.

In fact, the mean brightness of the robot with camouflage is within the RMS contrast of the mean

background brightness.

The color layer (Fig. 1, main text) used for this soft robot also disrupts the familiar profile of

a quadrupedal soft robot. Images of a quadrupedal robot without (Fig. S5A) and with (Fig. S5B)

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the color layer were taken on a rock bed and converted to grayscale. A “Canny” edge-finding

algorithm with 15-pixel width was applied to the images and is shown in Fig. S5C and S5D.

Reflectance Characterization of Color Layers. We photographed the color layers using

diffuse incandescent or fluorescent (or combinations of both) lighting. This lighting avoided

excessive shadows and reflectance hot spots, which could have been further reduced using

antireflective coatings (though we did not investigate them here). To characterize the

performance of our color layers in the “on” (filled with colored liquid) and “off” (filled with

uncolored water) state, we collected reflectance spectra using two defined light sources like those

used in the photography of the color layers. Specifically, we used a fluorescent lamp with three

fluorescent bulbs (Alzo digital, FL360, Temp. 5500K, 120 ACV, 27 W, 42 A) covered by a

diffuser and a standard desk lamp with a single incandescent bulb purchased from Phillips®

(100W, soft white). We illuminated the color layer (Fig. S1B) with the light source positioned

parallel to its surface and we collected the reflectance signal through a fiber optic probe (Ocean

Optics Inc., R200-7-UV-Vis, D = 200m, N.A. = 0.22) that we mounted 5 cm from the color

layer surface at an angle of 45o. We held the fluorescent lamp and incandescent lamp at 60 cm

and 40 cm from the surface of the color layer, respectively. We processed the reflected signal

with a high resolution spectrometer (Ocean Optics Inc., HR4000, 300-500 msec. integration

time, 10 scan averaging). This setup samples a circular area of ~3.8 cm2 that covers roughly the

entire center portion of the color layer.

We show the reflectance data, for each source, in Fig. S6 and include the reflectance

spectrum for the “off” state (Ioff) followed by the relative reflectance spectra (Ion/Ioff) for each of

the “on” color states tested. We observed the expected result in each experiment; for example,

when in the blue “on” state (Fig. S6B) reflectance from ~550 to 700 nm was depressed by more

S7

than 40%. The opposite held for the red “on” state (Fig. S6B). Black decreased the reflection

from all wavelengths. When we filled the color layer with white, the reflection increased relative

to when the color layer was empty.

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Fig. S1. (A-D) Various color layers fabricated. In each case (from right to left), a top schematic,

a cross sectional schematic (as indicated by the dotted red line in top schematic), and a

photograph of the color layer filled with dye.

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Fig. S1.

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Fig. S2. (A) Close up image of an un-camouflaged soft robot with regularly patterned

microfluidic network in an artificial, man-made environment different from that shown in the

main text. (B) The same soft robot from A camouflaged using background matching. (C) Image

of the robot from B in three different regions adopting appropriate coloration. The positions are

marked with dashed boxes that also indicate the borders of each super imposed image.

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Fig. S2.

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Fig. S3. The artificial, man-made environment from Fig. 2F of the main text annotated with

dashed boxes to show the five positions of the soft robot. The dashed boxes also indicate the

borders of each super imposed photograph.

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Fig. S3.

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Fig. S4. (A) Image partitions of un-camouflaged (red border) and camouflaged (blue border)

robots on rock bed. (B) Mean Brightness vs. RMS Contrast of each partitioned region. (C)

Masking used to isolate robots from background. (D) Computed values of mean brightness and

RMS contrast for un-camouflaged robot, camouflaged robot, and full background.

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Fig. S4.

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Fig. S5. (A-B) Grayscale images of a soft robotic quadruped with and without a camouflage

layer. (C-D) “Canny” edge finding algorithm applied to images A and B.

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Fig. S5.

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Fig. S6. Reflectance spectra collected for color layers in the “on” and “off” states. The left

column (A, B) was collected using an incandescent light source and the right column (C, D) was

collected using a fluorescent light source. Each spectrum includes a photograph of the area

sampled as an inset. (A, C) Reflectance spectra of the empty color layer in the “off” state. (B,

D) Stacked spectra for four different “on” states. The intensities of the spectra are expressed

relative to the intensity of the “off” state where relative intensity equals Ion/Ioff.

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Fig. S6

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Supporting Movies

Movie S1. A soft robot walks onto a bed of rocks and is camouflaged (2m 27s actual duration).

Movie S2. A soft robot walks onto a bed of rocks covered in leaves and is displayed with

fluorescent coloration (1m 4s actual duration).

Movie S3. A soft robot is displayed in the dark using chemiluminescence (1.5X actual speed).

Movie S4. Simultaneous operation of visible and IR camouflage/display sequence (4X actual

speed).