Abstract

The rapid progress of soft actuators across various domains has attracted considerable attention due to their diverse applications. However, the increasing demand for real-time feedback and closed-loop control in complex scenarios requires self-sensing capabilities for autonomous intelligent soft actuators. To address this issue, we proposed a self-powered sensing shape memory actuator based on polyvinylidene fluoride/carbon nanotube composites. These composites exhibited outstanding thermal and near-infrared light-responsive shape memory performance, achieving a shape recovery ratio close to 100 %. The reversible shape memory effects were achieved through a bilayer-structured material, thereby expanding its application as soft actuators. Moreover, the composites were used to fabricate a triboelectric nanogenerator (TENG) that exhibited high pressure sensing performance with a sensitivity of 0.127 V kPa−1. Through careful design, the self-sensing function of the shape memory actuators was accomplished by the self-powered sensing of TENG driven by the reversible shape memory effects. Furthermore, we demonstrated practical applications of the self-powered sensing shape memory actuators by fabricating a light-control switch and a smart gripper. The gripper, in particular, demonstrated material recognition based on the actuating and sensing functions of the actuators. Overall, this work provides a feasible method to fabricate shape memory actuators with a self-powered sensing function, expected to have broad application potential in soft robotics, wearable electronics and other integrated multi-functional devices.

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