Supplementary Data for Chong Hong et al., "Magnetically actuated gearbox for the wireless control of millimeter-scale robots", Science Robotics, 7 (69), eabo4401, 2022. https://www.science.org/doi/full/10.1126/scirobotics.abo4401 GENERAL INFORMATION: 1. Title of Dataset: Data from: Magnetically actuated gearbox for the wireless control of millimeter-scale robots. 2. Author information: Corresponding authors Name: Wenqi Hu, Metin Sitti Institution: Max Planck Institute for Intelligent Systems Email: wenqi@is.mpg.de, sitti@is.mpg.de 3. Date of data collection: 2021-2022 4. Geographic location of data collection: Stuttgart, Germany FILE OVERVIEW: File 1 Name: Figure 1E.xlsx (Date: 2022) File 1 Description: Characterization data of the gearbox efficiency in air, water, and water-glycerol solution (Fig. 1E). Experimental raw data for calculating efficiency and standard deviation. File 2 Name: Figure 2A.xlsx (Date: 2022) File 2 Description: Data of simulated and experimental mean input torque and transmission efficiency (Fig. 2A). Simulated and experimental raw data for the calculation. File 3 Name: Figure 2B.xlsx (Date: 2021-2022) File 3 Description: Data of simulated mean mesh force and RMSD of mesh force (Fig. 2Bii). Raw data of mesh force for calculating mean mesh force and RMSD. File 4 Name: Figure 2C.xlsx (Date: 2022) File 4 Description: Simulated raw data of maximum bending stress. Simulated raw data of mesh force and reaction torque for calculating efficiency, mesh force, and RMSD of mesh force. File 5 Name: Figure 3D.xlsx (Date: 2021-2022) File 5 Description: Data of segment head displacement of peristaltic locomotion (Fig. 3Di) and data of measured average speed (Fig. 3Dii). File 6 Name: Figure S2.xlsx (Date: 2022) File 6 Description: Measurement of fabrication error (fig. S2). File 7 Name: Figure S3.xlsx (Date: 2022) File 7 Description: Magnetic field simulation data (fig. S2). File 8 Name: Figure S5.xlsx (Date: 2022) File 8 Description: Data of input magnetic power, output mechanical power, output torque density, and output power density in air, water, and water-glycerol solution (fig. S5). File 9 Name: Figure S6.xlsx (Date: 2022) File 9 Description: Data of simulated magnetic resistance torque of the magnetic disk (fig. S6). File 10 Name: Figure S7.xlsx (Date: 2021-2022) File 10 Description: Data of measured friction coefficient between different materials hemispheres and different materials substrates (fig. S7). File 11 Name: Figure S8B.xlsx (Date: 2022) File 11 Description: Simulated raw data of reaction torque (fig. S8B). File 12 Name: Figure S8C.xlsx (Date: 2022) File 12 Description: Simulated raw data of stress and mesh force under different pressure angle (fig. S8C). File 13 Name: Figure S8D.xlsx (Date: 2022) File 13 Description: Data of simulated efficiency at different loading torques and magnetic field frequencies (fig. S8D). Simulated raw data of mesh force and reaction torque for calculating efficiency. File 14 Name: Figure S10.xlsx (Date: 2021-2022) File 14 Description: Data of segment head displacement and segment length (fig. S10). File 15 Name: Figure S14C.xlsx (Date: 2021) File 15 Description: Data of simulated magnetic torques (fig. S14C). METHODOLOGICAL INFORMATION Methods for data collection or generation and methods used for data processing are detailed in Materials and Methods within article "Magnetically actuated gearbox for the wireless control of millimeter-scale robots", Science Robotics, 7 (69), eabo4401, 2022. https://www.science.org/doi/full/10.1126/scirobotics.abo4401 DATA-SPECIFIC INFORMATION FOR: Figure 1E.xlsx Variable list: Actuation frequency: Frequency of the applied rotating magnetic field; Hz Efficiency: The overall transmission efficiency of the gearbox in the weight lifting experiment; % Standard deviation: Standard deviation of efficiency; % Input torque: The magnetic torque acting on the input shaft of the gearbox; μNm Output torque: The output torque of the gearbox for lifting the weight; μNm DATA-SPECIFIC INFORMATION FOR: Figure 2A.xlsx Variable list: μ_1: The friction coefficient between the gear teeth μ_2: The friction coefficient between the gear hole surface and the shaft Output torque: The output torque of the driven gear for lifting the weight; μNm Simulated mean input torque: The simulated mean torque acting on the driving gear; μNm Simulated efficiency: The simulated transmission efficiency of the gearpair; % Experimental mean input torque: The experimental mean magnetic torque acting on the input shaft; μNm Experimental efficiency: The transmission efficiency of the gearpair in the experiments; % Input torque: The torque acting on the input shaft of the gearbox; μNm DATA-SPECIFIC INFORMATION FOR: Figure 2B.xlsx Variable list: μ_1: The friction coefficient between the gear teeth Time: Moment in the simulation; s Mean mesh force: Mean value of the gear mesh force; mN RMSD of force: The root mean square deviation of gear mesh force; mN Resultant force: The gear mesh force; N DATA-SPECIFIC INFORMATION FOR: Figure 2C.xlsx Variable list: Time: Moment in the simulation; s Pressure angle: The pressure angles of the gearpair; Degree Stress: Maximum bending stress at the tension side of the tooth root; MPa Force: The mesh force in one meshing cycle; mN Reaction torque: Reaction torque of the driving gear in one meshing cycle; μNm DATA-SPECIFIC INFORMATION FOR: Figure 3D.xlsx Variable list: Time: Moment in the peristaltic experiments; s Segment head displacement: The head displacement of each robot body segment; mm Seg 1-4: Label of body segment Frequency of rotating B: Frequency of the applied rotating magnetic field; Hz Segment head displacement: The head displacement of each robot body segment; mm Average speed: Average locomotion speed during the experiments; mm/s and body length/s DATA-SPECIFIC INFORMATION FOR: Figure S2.xlsx Variable list: Test count: Sequence number of the test |e_D|: Deviation of measured hole diameter of the fabricated gears; μm |e_P|: Deviation of measured distance between adjacent holes in the gearbox sideplates; μm DATA-SPECIFIC INFORMATION FOR: Figure S3.xlsx Variable list: Distance: Distance from the origin of the coordinates; mm |B| in z direction: Magnetic flux density norm along the z-axis; mT |B| in x direction (at z=50mm): Magnetic flux density norm along the x-axis at z=50mm; mT |B| in y direction (at z=50mm): Magnetic flux density norm along the y-axis at z=50mm; mT DATA-SPECIFIC INFORMATION FOR: Figure S5.xlsx Variable list: Actuation frequency: Frequency of the applied rotating magnetic field; Hz Input power: Input magnetic power on the magnetic disk; μW Input power error bar: Standard deviation of input power; μW Output power: The power output of the gearbox output shaft for lifting the weight; μW Output Torque density: Torque on the output shaft divided by the volume of the gearbox; μNm/mm^3 Output Power density: Power for lifting the weight divided by the volume of the gearbox; μW/mm^3 DATA-SPECIFIC INFORMATION FOR: Figure S6.xlsx Variable list: Frequency: Rotating frequency of the input magnetic disk; Hz Dynamic viscosity: Dynamic viscosity of the fluid; Ns/m^2 Torque: The fluid resistance torque on the magnetic disk; μNm DATA-SPECIFIC INFORMATION FOR: Figure S7.xlsx Variable list: Test count: Sequence number of the test Friction coefficient between Epoxy and Epoxy Friction coefficient between IP-S and IP-S Friction coefficient between Epoxy and steel Friction coefficient between IP-S and steel DATA-SPECIFIC INFORMATION FOR: Figure S8B.xlsx Variable list: μ_1: The friction coefficient between the gear teeth Reaction torque: The reaction torque on the driving gear during gear meshing; μNm DATA-SPECIFIC INFORMATION FOR: Figure S8C.xlsx Variable list: Pressure angle: Gear pressure angle; Degree Stress: Maximum bending stress at the tension side of the tooth root; MPa Force: The time-history resultant mesh force of the gear; mN DATA-SPECIFIC INFORMATION FOR: Figure S8D.xlsx Variable list: Frequency of rotating B: Frequency of the applied rotating magnetic field; Hz Efficiency under loading torque of 1 μNm; % Efficiency under loading torque of 20 μNm; % Force: Mesh force of the gearpair during one mesh cycle; mN Reaction torque: The reaction torque on the driving gear during one mesh cycle; μNm DATA-SPECIFIC INFORMATION FOR: Figure S10.xlsx Variable list: Time: Moment in the peristaltic experiments; s Segment head displacement: The head displacement of each robot body segment; mm Seg 1-4: Label of body segment DATA-SPECIFIC INFORMATION FOR: Figure S14.xlsx Variable list: φ: Rotation angle of the magnetic rotor; Degree Magnetic torque: Torque acting on the magnetic rotor; μNm r: Radius of the magnetic rotor; mm Peak torque: Peak magnetic torque acting on the magnetic rotor; μNm Magnetization: Magnetization of the magnetic components; kA/m