Multi-responsive soft paper-based actuators with programmable shape-deformations

Abstract

Over the past few years, researchers have focused on stimulus-responsive soft materials and their applications in the design of soft actuators. The key factor of the soft actuators to achieve various applications is the programmable and controllable shape deformations. Here, a versatile and simple surface patterning method consisted of pencil drawing and pasting polymer films is proposed to design the soft actuators with programmable deformations. Due to the thermal expansion effect and the hygroexpansion effect, the graphite paper/polymer actuator performs a bending motion with a curvature of 1.4 cm−1 under light irradiation and 1.2 cm−1 under high humidity. Owing to the convenience of the patterning method, different patterns on both two surfaces of the paper substrate are designed without effort. Thus, through tuning the grayscale of the graphite on one surface of the paper, three types of T-shaped actuators can be obtained with different deformations under light irradiation. In addition, by pencil drawing or hydrophobically modifying specific patterns on the two surfaces of the paper, three types of strip-shaped actuators are also proposed to demonstrate that different 3D shape deformations can be obtained under different stimuli. Finally, a helix-shaped actuator inspired by the natural plant tendrils is fabricated by the thermal-induced shaping method. The helix-shaped actuator performs twisting/untwisting motion under different stimuli and can be used as a grasping robot. These results demonstrate the diversified programmability of the graphite paper/polymer actuator. Hence, the simple and versatile programming methods of soft actuators have great potential to be used in the field of biomimetic applications, intelligent robotics, and lab-on-paper devices.