1. 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):030931-030931-2. doi:10.1115/1.4033803 Catheter robot traversing a blood vessel Figure Legend:

2. 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):030931-030931-2. doi:10.1115/1.4033803 Actuation states of catheter robot segments Figure Legend:

3. 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):030931-030931-2. doi:10.1115/1.4033803 Valve diagram showing the thickness and angle of the valve as well as the forward and reverse flow directions Figure Legend:

4. 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):030931-030931-2. doi:10.1115/1.4033803 Two-piece mold with six varying cone angles and a variable height Figure Legend:

5. 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):030931-030931-2. doi:10.1115/1.4033803 Hydraulic pump setup Figure Legend:

6. 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):030931-030931-2. doi:10.1115/1.4033803 Contour of the cracking pressure ratios (P rev /P fwd − 1) for varying thicknesses and cone angles Figure Legend: