Applications In Soft Robotics Research Articles

Magnetic Hyperporous Elastic Material with Excellent Fatigue Resistance and Oil Retention for Oil-Water Separation.

Oily wastewater has caused serious threats to the environment; thus, high-performance absorbing materials for effective oil-water separation technology have attracted increasing attention. Herein, we develop a magnetic, hydrophobic, and lipophilic hyperporous elastic material (HEM) templated by high internal phase emulsions (HIPE), in which free-radical polymerization of butyl acrylate (BA) and divinylbenzene (DVB) is employed in the presence of poly(dimethylsiloxane) (PDMS), lecithin surfactant, and modified Fe3O4 nanoparticles. The adoption of the emulsion template with nanoparticles as both stabilizers and cross-linkers endows the HEM with biomimetic hierarchical open-cell micropores and elastic cross-linked networks, generating an oil absorbent with outstanding mechanical stability. Compressive fatigue resistance of the HEM is demonstrated to endure 2000 mechanical cycles without plastic deformation or strength degradation. By exploiting the synergistic effect of hierarchical structures and low-surface-energy components, the resulting HEM also possesses excellent and robust hydrophobicity (water contact angle of 164°) and good oil absorption capacity, in which Fe3O4 nanoparticles lead to convenient magnetically controlled oil recyclability as well. Notably, the unique biomimetic microporous structure demonstrates superior oil retention capacity (>95% at 1000 rpm and >60% at 10,000 rpm) over the state-of-the-art porous materials for a diverse variety of oils to reduce the risk of secondary oil leakage, along with good recoverability by squeezing owing to the excellent compression resilience. These excellent performances of our HEM provide broad prospects for practical applications in oil-water separation, energy conversion, and smart soft robotics.

Revolutionizing medicine: Molecularly imprinted polymers as precision tools in cancer diagnosis and antibiotic detection.

Molecularly imprinted polymers (MIPs) are pivotal in medicine, mimicking biological receptors with enhanced specificity and affinity. Comprising templates, functional monomers, and cross-linkers, MIPs form stable three-dimensional polymer networks. Synthetic templates like glycan and aptamers improve efficiency, guiding the molecular imprinting process. Cross-linking determines MIPs' morphology and mechanical stability, with printable hydrogels offering biocompatibility and customizable properties, mimicking native extracellular matrix (ECM) microenvironments. Their versatility finds applications in tissue engineering, soft robotics, regenerative medicine, and wastewater treatment. In cancer research, MIPs excel in both detection and therapy. MIP-based detection systems exhibit superior sensitivity and selectivity for cancer biomarkers. They target nucleic acids, proteins, and exosomes, providing stability, sensitivity, and adaptability. In therapy, MIPs offer solutions to challenges like multidrug resistance, excelling in drug delivery, photodynamic therapy, photothermal therapy, and biological activity regulation. In microbiology, MIPs serve as adsorbents in solid-phase extraction (SPE), efficiently separating and enriching antibiotics during sample preparation. They contribute to bacterial identification, selectively capturing specific strains or species. MIPs aid in detecting antibiotic residues using fluorescent nanostructures and developing sensors for sulfadiazine detection in food samples. In summary, MIPs play a pivotal role in advancing medical technologies with enhanced sensitivity, selectivity, and versatility. Applications range from biomarker detection to innovative cancer therapies, making MIPs indispensable for the accurate determination and monitoring of diverse biological and environmental samples.

A mechanically robust and facile shape morphing using tensile-induced buckling.

Inspired by the adaptive mechanisms observed in biological organisms, shape-morphing soft structures have emerged as promising platforms for many applications. In this study, we present a shape-morphing strategy to overcome existing limitations of the intricate fabrication process and the lack of mechanical robustness against mechanical perturbations. Our method uses tensile-induced buckling, achieved by attaching restraining strips to a stretchable substrate. When the substrate is stretched, the stiffness mismatch between the restraining strips and the substrate, and the Poisson's effect on the substrate cause the restraining strips to buckle, thereby transforming initially flat shapes into intricate three-dimensional (3D) configurations. Guided by an inverse design method, we demonstrate the capability to achieve complicated and diverse 3D shapes. Leveraging shape morphing, we further develop soft grippers exhibiting outstanding universality, high grasping efficiencies, and exceptional durability. Our proposed shape-morphing strategy is scalable and material-independent, holding notable potential for applications in soft robotics, haptics, and biomedical devices.

Biomimetic Mechanically Robust Chiroptical Hydrogel Enabled by Hierarchical Bouligand Structure Engineering.

Natural bouligand structures enable crustacean exoskeletons and fruits to strike a combination of exceptional mechanical robustness and brilliant chiroptical properties owing to multiscale structural hierarchy. However, integrating such a high strength-stiffness-toughness combination and photonic functionalities into synthetic hydrogels still remains a grand challenge. In this work, we report a simple yet general biomimetic strategy to construct an ultrarobust chiroptical hydrogel by closely mimicking the natural bouligand structure at multilength scale. The hierarchical structural engineering of long-range ordered cellulose nanocrystals' bouligand structure, well-defined poly(vinyl alcohol) nanocrystalline domains, and dynamic interfacial interaction synergistically contributes to the integration of high strength (23.3 MPa), superior modulus (264 MPa), and high toughness (54.7 MJ m-3), as well as extraordinary impact resistance, which far exceed their natural counterparts and synthetic photonic hydrogels. More importantly, seamless chiroptical and solvent-responsive patterns with high resolution can also be scalably integrated into the hydrogel by localized manipulation of the photonic band, while maintaining good ionic conductivity. Such exceptional mechanical-photonic combination holds tremendous potential for applications in wearable sensors, encryption, displays, and soft robotics.

Solvent‐Independent 3D Printing of Organogels

AbstractOrganogels are polymer networks extended by a liquid organic phase, offering a wide range of properties due to the many combinations of polymer networks, solvents, and shapes achievable through 3D printing. However, current printing methods limit solvent choice and composition, which in turn limits organogels' properties, applications, and potential for innovation. As a solution, a method for solvent‐independent printing of 3D organogel structures is presented. In this method, the printing step is decoupled from the choice of solvent, allowing access to the full spectrum of solvent diversity, thereby significantly expanding the range of achievable properties in organogel structures. With no changes to the polymer network, the 3D geometry, or the printing methodology itself, the choice of solvent alone is shown to have an enormous impact on organogel properties. As demonstrated, it can modulate the thermo‐mechanical properties of the organogels, both shifting and extending their thermal stability range to span from ‐30 to over 100 °C. The choice of solvent can also transition the organogels from highly adhesive to extremely slippery. Finally, the method also improves the surface smoothness of prints. Such advances have potential applications in soft robotics, actuators, and sensors, and represent a versatile approach to expanding the functionality of 3D‐printed organogels.

Bending, electroadhesion and sensing performances of single compliant electrode dielectric elastomer actuator based on SEBS gel

Dielectric elastomer actuators (DEAs) have great potential for application in soft robotics due to their ability to undergo substantial deformations, rapid response times, and high energy density when subjected to external electrical stimuli. However, the application of DEAs in the field of soft grippers is limited by their restricted direct electro-bending capability, output force, self-sensing capacity, and pre-stretching requirement. In this study, we fabricated a single compliant electrode DEA (SCE-DEA) which was made by sandwiching a compliant electrode between two layers of poly(styrene-b-ethylene-co-butylene-b-styrene) (SEBS)/white mineral oil (WO) dielectric elastomer films. The SCE-SEBS/WO was demonstrated to have the capacities of bending, sensing, and electroadhesion (EA). The SCE-SEBS/WO can be used in various soft actuator modes, such as the unipolar EA actuator, soft gripper, and soft vibrator. The grabbing mechanism of SCE-SEBS/WO-based soft grippers with opposite bipolar configuration is caused by electric field induced bending of SEC-SEBS/WO and subsequent electrostatic attraction between both SEC-SEBS/WO. The SEC-SEBS/WO based soft grippers have rapid response detachment, and ability to grasp various types of objects. Three-layer stacked SCE-SEBS/WO-60 (with 60 wt% of WO) exhibited 531 mN cm−2 of EA stress on the paper at 3.0 kV applied voltage, and the soft gripper made by four SCE-SEBS/WO-60 can successfully grab wood blocks weighing 162.4 g at 5 kV applied voltage. The sensing capacity of SCE-SEBS/WO based soft gripper was based on the bending strain dependent resistance changes of the compliant electrode. Our results provide new insights into the fabrication of DEA based soft grippers.

Water‐Assisted Reprocessing and Shape Programming of Epoxy Vitrimer

AbstractVitrimers are reprocessing and recycling thermosetting plastics. They possess reconfigurable polymer networks that allow for unlimited transformation in shape in principle. However, current strategies to reshape the vitrimers typically involve heat or light, which often induces undesirable oxidation and decomposition. To address this issue, here a water‐assisted approach is proposed for programming epoxy vitrimers’ shapes. In this design, water molecules are utilized to reversibly dissociate the hydrogen bonds in epoxy vitrimers to enable the polymer segments to move flexibly. The hydrated epoxy vitrimers can then be reprogrammed and retained into different temporary shapes by removing the water. Such samples would be recovered to their original shapes by rehydration, exhibiting water‐induced shape memory property. More than temporary deformation, the permanent figures of the hydrated vitrimers can also be permanently changed at room temperature (rt) or elevated temperatures in the presence of transesterification catalysts. Combing the shape memory and high temperature plasticity or utilizing rt plasticity, sophisticated shapes such as spiral shapes are demonstrated. It is envisioned that this water‐assisted methodology can be useful in programming cross‐linked polymers into diverse 3D structures, which has wide practical applications in soft robots, deployable devices, aerospace materials, etc.

Structure-properties relationships of defined CNF single-networks crosslinked by telechelic PEGs

The high structural anisotropy and colloidal stability of cellulose nanofibrils' enable the creation of self-standing fibrillar hydrogel networks at very low solid contents. Adding methacrylate moieties on the surface of TEMPO oxidized CNFs allows the formation of more robust covalently crosslinked networks by free radical polymerization of acrylic monomers, exploiting the mechanical properties of these networks more efficiently. This technique yields strong and elastic networks but with an undefined network structure. In this work, we use acrylate-capped telechelic polymers derived from the step-growth polymerization of PEG diacrylate and dithiothreitol to crosslink methacrylated TEMPO-oxidized cellulose nanofibrils (MATO CNF). This combination resulted in flexible and strong hydrogels, as observed through rheological studies, compression and tensile loading. The structure and mechanical properties of these hydrogel networks were found to depend on the dimensions of the CNFs and polymer crosslinkers. The structure of the networks and the role of individual components were evaluated with SAXS (Small-Angle X-ray Scattering) and photo-rheology. A thorough understanding of hybrid CNF/polymer networks and how to best exploit the capacity of these networks enable further advancement of cellulose-based materials for applications in packaging, soft robotics, and biomedical engineering.

Durable semi-interpenetrating polymer network containing dynamic boroxine bonds for multi-shape manipulated deformation

Shape-shifting materials with multiple shape manipulation, integrated with durability, shape reconfiguration, shape memory, and reversible deformation, are in high demand for applications in soft robotics, electrical devices, and other fields, but remain a significant technical challenge. In this study, we present a straightforward approach to develop a semi-interpenetrating polymer network (named PVP-VPBA-PEGDMA) crosslinked with dynamic boroxine bonds to address these challenges. The typical PVP-VPBA2-PEGDMA0.2 exhibits high mechanical strength of 38.5 MPa, exceptional self-healing capability (with up to 89.4 % efficiency), and recyclability, ensuring remarkable durability during shape-changing process. Notably, the PVP-VPBA-PEGDMA can be programmatically transformed from 2D sheets into a variety of 3D shapes using humidity-induced solid-state plasticity, which is facilitated by humidity-sensitive dynamic boroxine bonds. The PVP-VPBA-PEGDMA can be folded like paper through origami techniques, and maintain permanent shape configurations, highly suitable for complex shape morphing applications. Moreover, the PVP-VPBA-PEGDMA, in their temporary geometries, can power a model car using shape memory, demonstrating substantial actuation ability and mechanical performance. Leveraging the asymmetric humidity-triggered behavior of the PVP-VPBA-PEGDMA, various functional humidity-responsive devices have been developed, including a crawling robot, a hat, and a conveyor belt with wet sorting capability. Given the programmable shape reconfiguration, shape memory and reversible shape-changing ability of PVP-VPBA-PEGDMA, it opens up numerous potential applications in soft robotics, flexible electronic devices, and intelligent sensors.

Active stiffness tuning of lattice metamaterials

In this paper, surface conductive heating was utilized to actively control the stiffness of lattice metamaterials manufactured employing multi-material 3D printing. To create an electrical surface conduction, additively manufactured samples in single and dual material configurations were dip coated in a solution of carbon black in water. Electro-thermo-mechanical tests conducted successfully demonstrated that the low-cost conductive coating can be used to actively alter the stiffness of the structure through surface joule heating. The process was found to result in repeatable and reproduceable stiffness tuning. Stiffness reductions of 56% and 94% were demonstrated for single and dual material configurations under the same electrical loading. The proposed methodology can be implemented to actively control the properties of polymeric lattice materials/structures where the change in the composition of polymers (introduce bulk electrical conductivity) is difficult and can have a wide range of applications in soft robotics, shape-changing, and deployable structures.

Electronic skin with shape sensing and Bending-Insensitive pressure sensing for soft robotic grippers object recognition

Soft robotic grippers rely on accurate contact surface information to perform gripping and sorting tasks safely. Difficulty in obtaining accurate contact surface information for recognizing objects with a single type of sensor hinders the advanced capabilities of soft robotic grippers. To obtain contact surface information more accurately for object recognition, in this paper a shape-pressure dual-mode electronic skin for contact surface detection of soft robotic grippers is proposed. It consists of pressure sensing units and curvature sensing units. The pressure sensing unit is insensitive to curvature through an ingenious structural design. It can detect pressure in the range of 0–––7.5 N with a measurement error of 3.92 %. The curvature sensing unit can detect curvature in the range of 0–––0.5 cm−1 with a sensitivity of 63.66 % / cm-1. The experimental results show that the electronic skin can help the soft robotic gripper obtain information on the contact surface. The electronic skin is expected to accelerate the application of soft robots in advanced tasks such as recognition and classification.

Bi-material nanofibrous electrospun junctions: A versatile tool to mimic the muscle–tendon interface

Soft robotics aims to replicate the structure and mechanics of skeletal muscles. The challenge lies in seamlessly integrating these muscle-inspired soft actuators with the joints they intend to actuate, resembling the natural connection between muscles and tendons (i.e., myotendinous junction). This study addresses this issue by producing electrospun bundles of aligned nanofibers using a thermoplastic polyurethane, mimicking the muscle fascicle, and nylon 6.6 for the tendon one. A novel method was developed to create electrospun bi-material bundles with two different types of myotendinous-inspired junctions, called flat and conical. Scanning electron microscopy and microtomography analyses confirmed that conical junctions mimicked natural myotendinous structures better than flat ones. Tensile mechanical tests demonstrated that bi-material junctions reached stress at failure comparable to polyurethane bundles (11 ± 2 MPa), with the conical junction showing stiffness (0.13 ± 0.02 N/mm) and net elastic modulus (153 ± 10 MPa) values closer to the natural myotendinous ones. Cyclic tests verified the mechanical stability of junctions and their ability to dampen nylon 6.6 hardening over time. Moreover, all bundles withstood cyclic loading without breaking. These findings suggest the potential of biomimetic electrospun junctions for applications in soft robotics, marking a significant step toward advancing this field.

Functional soft robotic composites based on organic photovoltaic and dielectric elastomer actuator.

Improving the energy efficiency of robots remains a crucial challenge in soft robotics, with energy harvesting emerging as a promising approach to address it. This study presents a functional soft robotic composite called OPV-DEA, which integrates flexible organic photovoltaic (OPV) and dielectric elastomer actuator (DEA). The composite can simultaneously generate electrostatic bending actuation and harvest energy from external lights. Owing to its simplicity and inherent flexibility, the OPV-DEA is poised to function as a fundamental building block for soft robots. This study aimed to validate this concept by initially establishing the fabrication process of OPV-DEA. Subsequently, experimental samples are fabricated and characterized. The results show that the samples exhibit a voltage-controllable bending actuation of up to 15.6° and harvested power output of 1.35 mW under an incident power irradiance of 11.7 mW/cm2. These performances remain consistent even after 1000 actuation cycles. Finally, to demonstrate the feasibility of soft robotic applications, an untethered swimming robot equipped with two OPV-DEAs is fabricated and tested. The robot demonstrates swimming at a speed of 21.7mm/s. The power consumption of the robot is dominated by a high-voltage DC-DC converter, with a value approximately 1.5 W. As a result, the on-board OPVs cannot supply the necessary energy during locomotion simultaneously. Instead, they contribute to the overall system by charging a battery used for the controller on board. Nevertheless, these findings suggest that the OPV-DEA could pave the way for the development of an unprecedented range of functional soft robots.

CHARACTERIZATION OF 3D PRINTED CONDUCTIVE FLEXIBLE MATERIALS FOR SOFT ROBOTIC APPLICATIONS

Soft robots composed of compliant and flexible materials can safely interact with humans and adapt to unstructured environments. However, integrating sensors, actuators, and control circuits into soft structures remains challenging. Additive manufacturing shows promise for fabricating soft robots with embedded electronics using conductive flexible composites. Nevertheless, there is still a limited understanding of the electromechanical behavior of 3D-printed conductive structures when subjected to the types of strains relevant to soft robotics applications. Optimized design requires characterizing the interplay between a soft component's changing shape and electrical properties during deformation. This study investigates the application of 3D printing technology to fabricate various geometries using a conductive, flexible material for soft robotic applications. The primary objective is to understand and characterize the behavior of differently shaped 3D-printed conductive materials under various mechanical stresses. Two distinct test setups are designed for conducting bending and tensile tests on the produced materials. Diverse geometries are printed using the conductive flexible material with desirable mechanical and electrical properties to employ tensile and bending tests. The experiments reveal a direct correlation between shape change and electrical resistance of the 3D printed materials, providing valuable insights into their adaptability for soft robotics. According to numerical results, honeycomb profiles are found to be the most linear and stable profile type. This research not only contributes to the field of flexible conductive materials but also lays the foundation for integrating these materials into future engineering designs, potentially enabling the development of highly responsive and adaptable devices for various industries.

Crack-insensitive fracture of elastomer-based soft network materials under monotonic and cyclic loads

In various applications of stretchable electronics and soft robots, soft materials are subjected to long-term load-bearing conditions, requiring them to possess good extreme mechanical properties such as highly stretchable, strong, fracture-resistant and anti-fatigue. Conventional soft materials with a single polymer network typically exhibit relatively low fracture resistance, while commonly employed toughening method involves introducing mechanical dissipation into original polymer networks often require complicated chemical synthesis and result in significant hysteresis under cyclic loads. Designing soft solid materials into soft network materials with periodic lattice structure paving another effective route to improve the fracture-resistant performance of soft materials, which has not been reported in the literature. This work provides a combined experimental and computational study on the mechanical properties and fracture behaviors of elastomer-based soft network materials with/without a precut crack under monotonic and cyclic loads, aiming to present a structural design strategy for fracture-resistant soft materials. The elastomer-based soft network materials are proven to be crack-insensitive, low-hysteresis and anti-fatigue. The nonlinear finite element analysis (FEA) is employed to reveal the underlying mechanism of crack-insensitivity in elastomer-based soft network materials. Both the mechanical properties and deformed configurations of soft network materials with/without a precut crack are accurately predicted by the FEA method. The effect of microstructure geometry and network topology on the mechanical properties of soft network materials is systematically studied. Under various amplitudes of cyclic applied strain, the elastomer-based soft network materials can survive even after individual microstructures ruptured, and the fatigue fracture process slows down as the applied strain amplitude decreases. In contrast to the behavior observed in monotonic loads where fracture initiates at the microstructure located ahead of the crack tip, fatigue fracture initiation in soft network materials with a precut crack exhibits a random distribution.

A Soft Collaborative Robot for Contact-based Intuitive Human Drag Teaching.

Soft material-based robots, known for their safety and compliance, are expected to play an irreplaceable role in human-robot collaboration. However, this expectation is far from real industrial applications due to their complex programmability and poor motion precision, brought by the super elasticity and large hysteresis of soft materials. Here, a soft collaborative robot (Soft Co-bot) with intuitive and easy programming by contact-based drag teaching, and also with exceptional motion repeatability (< 0.30% of body length) and ultra-low hysteresis (< 2.0%) is reported. Such an unprecedented capability is achieved by a biomimetic antagonistic design within a pneumatic soft robot, in which cables are threaded to servo motors through tension sensors to form a self-sensing system, thus providing both precise actuation and dragging-aware collaboration. Hence, the Soft Co-bots can be first taught by human drag and then precisely repeat various tasks on their own, such as electronics assembling, machine tool installation, etc. The proposed Soft Co-bots exhibit a high potential for safe and intuitive human-robot collaboration in unstructured environments, promoting the immediate practical application of soft robots.

Scalable Approach to Molecular Motor-Polymer Conjugates for Light-Driven Artificial Muscles.

The integration of molecular machines and motors into materials represents a promising avenue for creating dynamic and functional molecular systems, with potential applications in soft robotics or reconfigurable biomaterials. However, the development of truly scalable and controllable approaches for incorporating molecular motors into polymeric matrices has remained a challenge. Here, it is shown that light-driven molecular motors with sensitive photo-isomerizable double bonds can be converted into initiators for Cu-mediated controlled/living radical polymerization enabling the synthesis of star-shaped motor-polymer conjugates. This approach enables scalability, precise control over the molecular structure, block copolymer structures, and high-end group fidelity. Moreover, it is demonstrated that these materials can be crosslinked to form gels with quasi-ideal network topology, exhibiting light-triggered contraction. The influence of arm length and polymer structure is investigated, and the first molecular dynamics simulation framework to gain deeper insights into the contraction processes is developed. Leveraging this scalable methodology, the creation of bilayer soft robotic devices and cargo-lifting artificial muscles is showcased, highlighting the versatility and potential applications of this advanced polymer chemistry approach. It is anticipated that the integrated experimental and simulation framework will accelerate scalable approaches for active polymer materials based on molecular machines, opening up new horizons in materials science and bioscience.

Design, analysis, and testing of a variable-stiffness soft grabbing robot coupling particle jamming and layer jamming

Variable-stiffness soft robots feature high flexibility in motion and high stiffness in task execution, so they are in wide demand. A coupled variable stiffening method and actuator structures based on layer jamming and particle jamming were developed. The influences of different coupled modes of particles and layers on variable stiffening were evaluated, and coupled variable-stiffness soft actuators were designed. Then, the finite element method was used to simulate the multi-airbag driving structure and variable-stiffness mechanical models were established for three coupled structures to optimize parameters influencing the stiffness. Furthermore, the prototypes of the coupled variable-stiffness soft actuators were prepared, and the test platform was built to estimate the bending performance and variable stiffening capacity. Finally, a soft grabbing robot was prepared using the coupled variable-stiffness soft actuator and application tests were performed. The theoretical analysis and test results show that the soft grabbing robot can grab objects in diverse shapes and the maximum mass of objects that can be grasped is 1.25 kg, which verifies the variable stiffening capacity of the coupled soft actuator. The research provides new theoretical and technological support for the design and application of variable-stiffness soft robots.

Dielectric Elastomer-Based Actuators: A Modeling and Control Review for Non-Experts

Soft robotics are attractive to researchers and developers due to their potential for biomimicry applications across a myriad of fields, including biomedicine (e.g., surgery), the film industry (e.g., animatronics), ecology (e.g., physical ‘animats’), human–robot interactions (e.g., social robots), and others. In contrast to their rigid counterparts, soft robotics offer obvious actuation benefits, including their many degrees of freedom in motion and their potential to mimic living organisms. Many material systems have been proposed and used for soft robotic applications, involving soft actuators, sensors, and generators. This review focuses on dielectric elastomer (DE)-based actuators, which are more general electro-active polymer (EAP) smart materials. EAP-based soft robots are very attractive for various reasons: (a) energy can be efficiently (and readily) stored in electrical form; (b) both power and information can be transferred rapidly via electrical phenomena; (c) computations using electronic means are readily available. Due to their potential and benefits, DE-based actuators are attractive to researchers and developers from multiple fields. This review aims to (1) provide non-experts with an “easy-to-follow” survey of the most important aspects and challenges to consider when implementing DE-based soft actuators, and (2) emphasize current solutions and challenges related to the materials, controls, and portability of DE-based soft-actuator systems. First, we start with some fundamental functions, applications, and configurations; then, we review the material models and their selection. After, we outline material limitations and challenges along with some thermo-mechano-chemical treatments to overcome some of those limitations. Finally, we outline some of the control schemes, including modern techniques, and suggest using rewritable hardware for faster and more adaptive controls.

On the effective thermal conductivity of gallium-based liquid metal filled elastomers

Gallium based alloys are liquid at ambient temperature, combining both metal-like high thermal conductivity and fluidity characteristics, which contributes to their applications in thermal management, soft robotics, stretchable electronics and etc. A great number of experimental researches have been performed in preparing Ga-based liquid metal filled elastomers (LMFEs) with various constituent systems, processing techniques, droplet morphology and filler sizes in attempt to obtain the best thermal conductive efficiency. The thermal conductive mechanisms in these LMFEs are still lacking a comprehensive understanding up to date, and therefore the present work aimed to conduct a thorough analysis on this topic using both theoretical models and finite element method (FEM) simulations. The predictability of four classic micromechanics models was compared with the experiments and FEM simulations, and their relevant thermal conductive principles were identified from the simulated thermal flux evolution. Some deficiencies of these analytical models are identified and amended by reconsidering their special architectures. This work is favorable for establishing a general and quantitative relationship between the effective thermal conductivity and microstructures for most of the synthesized LMFEs available in the literatures.