Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Catheter robot traversing a blood vessel Figure Legend:

Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Actuation states of catheter robot segments Figure Legend:

Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Valve diagram showing the thickness and angle of the valve as well as the forward and reverse flow directions Figure Legend:

Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Two-piece mold with six varying cone angles and a variable height Figure Legend:

Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Hydraulic pump setup Figure Legend:

Date of download: 9/19/2016 Copyright © ASME. All rights reserved. Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter 1 J. Med. Devices. 2016;10(3): doi: / Contour of the cracking pressure ratios (P rev /P fwd − 1) for varying thicknesses and cone angles Figure Legend: