The 3D models of the pipette were designed with Fusion 360 (Autodesk Inc.) and printed with Form 3L (Formlabs Inc.) and KP3S printer (KINGROON Tech Co., Ltd). The model is designed for NORM-JECT Luer Solo 10 mL syringe. We adopted a linear actuator L16-100-63-6-R from Actuonix that internally uses the lead-screw mechanism. The actuator is lightweight (74 g) and provides enough force (maximum 100 N) to operate a large syringe. It is fastened to the pipette platform with screws and a mounting bracket. The linear actuator is connected to a 6V DC power input and Arduino. The Arduino is connected to a PC via a USB cable and controls the linear actuator. The actuator takes 5V pulse signal to decide the length of its extension. A 1.0 ms pulse signal fully retracts the actuator, and a 2.0 ms signal fully extends it. The length of the pulse that corresponds to each volume may vary because of printing accuracy and the individual characteristic of the actuator. The pulse length was calibrated by measuring the weight of dispensed water using a weighing scale. We evaluated the precision of the pipette by transferring water with a Franka Emika robot equipped with a Robotiq 2F-85 gripper. The experimental setup is shown in Figure . The robot is equipped with an additional servo motor to increase the dexterity of the robot. Details of the robot are described in . The procedure of the experiment is as follows: (i) the robot grasps the pipette, (ii) the robot moves the pipette into a beaker filled with water and inhales water, (iii) the robot moves the pipette above a Petri dish and dispenses the liquid inside the pipette. The amount of transferred water is measured by a weighing scale. We repeated the pipetting experiment five times for 5 mL and 10 mL. As a baseline, we measured the accuracy of pipetting by asking human subjects to manually operate the same syringe used inside the digital pipette. Since the accuracy of syringe operation depends on individual skills, we collect data from three subjects. Each participant tried the syringe operation five times for each target volume. The accuracy of a commercially available micropipette (Transferpette S 0.5-5 mL) was also measured. Since the maximum amount of the micropipette was 5 mL, 10 mL was dispensed by using it twice.